Add actuator_moment Jacobian sparsity pattern to mjData.

PiperOrigin-RevId: 688124236
Change-Id: Ieccc8131d0046100ec9a2783ffb43dd784f0a63b

doc/includes/references.h

@@ -261,6 +261,9 @@ struct mjData_ {
 
   // computed by mj_fwdPosition/mj_transmission
   mjtNum* actuator_length;   // actuator lengths                                 (nu x 1)
+  int*    moment_rownnz;     // number of non-zeros in actuator_moment row       (nu x 1)
+  int*    moment_rowadr;     // row start address in colind array                (nu x 1)
+  int*    moment_colind;     // column indices in sparse Jacobian                (nu x nv)
   mjtNum* actuator_moment;   // actuator moments                                 (nu x nv)
 
   // computed by mj_fwdPosition/mj_crb

include/mujoco/mjdata.h

@@ -289,6 +289,9 @@ struct mjData_ {
 
   // computed by mj_fwdPosition/mj_transmission
   mjtNum* actuator_length;   // actuator lengths                                 (nu x 1)
+  int*    moment_rownnz;     // number of non-zeros in actuator_moment row       (nu x 1)
+  int*    moment_rowadr;     // row start address in colind array                (nu x 1)
+  int*    moment_colind;     // column indices in sparse Jacobian                (nu x nv)
   mjtNum* actuator_moment;   // actuator moments                                 (nu x nv)
 
   // computed by mj_fwdPosition/mj_crb

include/mujoco/mjxmacro.h

@@ -623,6 +623,9 @@
     XMJV( int,       wrap_obj,          nwrap,       2           ) \
     XMJV( mjtNum,    wrap_xpos,         nwrap,       6           ) \
     X   ( mjtNum,    actuator_length,   nu,          1           ) \
+    X   ( int,       moment_rownnz,     nu,          1           ) \
+    X   ( int,       moment_rowadr,     nu,          1           ) \
+    X   ( int,       moment_colind,     nu,          MJ_M(nv)    ) \
     X   ( mjtNum,    actuator_moment,   nu,          MJ_M(nv)    ) \
     X   ( mjtNum,    crb,               nbody,       10          ) \
     X   ( mjtNum,    qM,                nM,          1           ) \

introspect/structs.py

@@ -5144,6 +5144,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='actuator lengths',
                  array_extent=('nu',),
              ),
+             StructFieldDecl(
+                 name='moment_rownnz',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of non-zeros in actuator_moment row',
+                 array_extent=('nu',),
+             ),
+             StructFieldDecl(
+                 name='moment_rowadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='row start address in colind array',
+                 array_extent=('nu',),
+             ),
+             StructFieldDecl(
+                 name='moment_colind',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='column indices in sparse Jacobian',
+                 array_extent=('nu', 'nv'),
+             ),
              StructFieldDecl(
                  name='actuator_moment',
                  type=PointerType(

unity/Runtime/Bindings/MjBindings.cs

@@ -4904,6 +4904,9 @@ public unsafe struct mjData_ {
   public int* wrap_obj;
   public double* wrap_xpos;
   public double* actuator_length;
+  public int* moment_rownnz;
+  public int* moment_rowadr;
+  public int* moment_colind;
   public double* actuator_moment;
   public double* crb;
   public double* qM;