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Move tendon sparsity fields from mjData to mjModel

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PiperOrigin-RevId: 875087590
Change-Id: I1a5489d2d2011795ee38b09d547e68acd72e3cc7
This commit is contained in:
Taylor Howell
2026-02-25 04:31:37 -08:00
committed by Copybara-Service
parent 253494739a
commit 52ed96bc3a
25 changed files with 332 additions and 178 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+4 -4
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@@ -289,9 +289,6 @@ struct mjData_ {
// computed by mj_fwdPosition/mj_tendon
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
mjtNum* ten_J; // tendon Jacobian (nJten x 1)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
@@ -1070,6 +1067,7 @@ struct mjModel_ {
mjtSize nexclude; // number of excluded geom pairs
mjtSize neq; // number of equality constraints
mjtSize ntendon; // number of tendons
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
mjtSize nwrap; // number of wrap objects in all tendon paths
mjtSize nsensor; // number of sensors
mjtSize nnumeric; // number of numeric custom fields
@@ -1096,7 +1094,6 @@ struct mjModel_ {
// sizes set after mjModel construction
mjtSize nnames_map; // number of slots in the names hash map
mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
mjtSize ngravcomp; // number of bodies with nonzero gravcomp
mjtSize nemax; // number of potential equality-constraint rows
mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
@@ -1490,6 +1487,9 @@ struct mjModel_ {
int* tendon_group; // group for visibility (ntendon x 1)
int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
mjtByte* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
mjtNum* tendon_width; // width for rendering (ntendon x 1)
include/mujoco/mjdata.h
-3
View File
@@ -323,9 +323,6 @@ struct mjData_ {
// computed by mj_fwdPosition/mj_tendon
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
mjtNum* ten_J; // tendon Jacobian (nJten x 1)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
include/mujoco/mjmodel.h
+4 -1
View File
@@ -728,6 +728,7 @@ struct mjModel_ {
mjtSize nexclude; // number of excluded geom pairs
mjtSize neq; // number of equality constraints
mjtSize ntendon; // number of tendons
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
mjtSize nwrap; // number of wrap objects in all tendon paths
mjtSize nsensor; // number of sensors
mjtSize nnumeric; // number of numeric custom fields
@@ -754,7 +755,6 @@ struct mjModel_ {
// sizes set after mjModel construction
mjtSize nnames_map; // number of slots in the names hash map
mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
mjtSize ngravcomp; // number of bodies with nonzero gravcomp
mjtSize nemax; // number of potential equality-constraint rows
mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
@@ -1148,6 +1148,9 @@ struct mjModel_ {
int* tendon_group; // group for visibility (ntendon x 1)
int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
mjtByte* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
mjtNum* tendon_width; // width for rendering (ntendon x 1)
include/mujoco/mjxmacro.h
+4 -4
View File
@@ -215,6 +215,7 @@
X( nexclude ) \
X( neq ) \
X( ntendon ) \
X( nJten ) \
X( nwrap ) \
X( nsensor ) \
X( nnumeric ) \
@@ -239,7 +240,6 @@
X( npaths ) \
X( nnames_map ) \
X( nJmom ) \
X( nJten ) \
X( ngravcomp ) \
X( nemax ) \
X( njmax ) \
@@ -629,6 +629,9 @@
X ( int, tendon_group, ntendon, 1 ) \
X ( int, tendon_treenum, ntendon, 1 ) \
X ( int, tendon_treeid, ntendon, 2 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, nJten, 1 ) \
X ( mjtByte, tendon_limited, ntendon, 1 ) \
X ( mjtByte, tendon_actfrclimited, ntendon, 1 ) \
X ( mjtNum, tendon_width, ntendon, 1 ) \
@@ -848,9 +851,6 @@
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
X ( int, ten_wrapadr, ntendon, 1 ) \
X ( int, ten_wrapnum, ntendon, 1 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, nJten, 1 ) \
X ( mjtNum, ten_J, nJten, 1 ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( int, wrap_obj, nwrap, 2 ) \
mjx/mujoco/mjx/_src/io.py
+6 -6
View File
@@ -1129,9 +1129,9 @@ def _put_data_jax(
mujoco.mju_sparse2dense(
ten_J,
d.ten_J,
d.ten_J_rownnz,
d.ten_J_rowadr,
d.ten_J_colind,
m.ten_J_rownnz,
m.ten_J_rowadr,
m.ten_J_colind,
)
else:
ten_J = np.zeros((m.ntendon, m.nv))
@@ -1251,6 +1251,9 @@ def _put_data_c(
for f in types.DataC.fields()
if hasattr(d, f.name)
}
for f in types.DataC.fields():
if not hasattr(d, f.name) and hasattr(m, f.name):
impl_fields[f.name] = getattr(m, f.name)
# TODO(stunya): support islanding via C impl.
impl_fields['solver_niter'] = impl_fields['solver_niter'][0]
@@ -1662,9 +1665,6 @@ def _get_data_into(
)
else:
ten_j = d_i._impl.ten_J
result_i.ten_J_rownnz[:] = ten_j_rownnz
result_i.ten_J_rowadr[:] = ten_j_rowadr
result_i.ten_J_colind[:] = ten_j_colind
result_i.ten_J[:] = ten_j
continue
mjx/mujoco/mjx/_src/smooth_test.py
+6 -6
View File
@@ -125,9 +125,9 @@ class SmoothTest(absltest.TestCase):
mujoco.mju_sparse2dense(
ten_J,
d.ten_J,
d.ten_J_rownnz,
d.ten_J_rowadr,
d.ten_J_colind,
m.ten_J_rownnz,
m.ten_J_rowadr,
m.ten_J_colind,
)
_assert_eq(ten_J, dx._impl.ten_J, 'ten_J')
_assert_attr_eq(d, dx, 'ten_length')
@@ -407,9 +407,9 @@ class TendonTest(parameterized.TestCase):
mujoco.mju_sparse2dense(
ten_J,
d.ten_J,
d.ten_J_rownnz,
d.ten_J_rowadr,
d.ten_J_colind,
m.ten_J_rownnz,
m.ten_J_rowadr,
m.ten_J_colind,
)
_assert_eq(ten_J, dx._impl.ten_J, 'ten_J')
_assert_eq(d.ten_wrapnum, dx._impl.ten_wrapnum, 'ten_wrapnum')
mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py
Vendored
+9 -6
View File
@@ -952,9 +952,12 @@ def put_data(
d.flexedge_J = wp.array(np.tile(mjd.flexedge_J.reshape(-1), (nworld, 1)).reshape((nworld, 1, -1)), dtype=float)
ten_J = np.zeros((mjm.ntendon, mjm.nv))
mujoco.mju_sparse2dense(ten_J, mjd.ten_J.reshape(-1), mjd.ten_J_rownnz, mjd.ten_J_rowadr, mjd.ten_J_colind.reshape(-1))
d.ten_J = wp.array(np.full((nworld, mjm.ntendon, mjm.nv), ten_J), dtype=float)
if mjm.ntendon:
ten_J = np.zeros((mjm.ntendon, mjm.nv))
mujoco.mju_sparse2dense(ten_J, mjd.ten_J.reshape(-1), mjm.ten_J_rownnz, mjm.ten_J_rowadr, mjm.ten_J_colind.reshape(-1))
d.ten_J = wp.array(np.full((nworld, mjm.ntendon, mjm.nv), ten_J), dtype=float)
else:
d.ten_J = wp.array(np.full((nworld, mjm.ntendon, mjm.nv), 0.0), dtype=float)
# TODO(taylorhowell): sparse actuator_moment
actuator_moment = np.zeros((mjm.nu, mjm.nv))
@@ -1165,9 +1168,9 @@ def get_data_into(
mujoco.mju_dense2sparse(
result.ten_J,
ten_J,
result.ten_J_rownnz,
result.ten_J_rowadr,
result.ten_J_colind,
mjm.ten_J_rownnz,
mjm.ten_J_rowadr,
mjm.ten_J_colind,
)
else:
result.ten_J[:] = d.ten_J.numpy()[world_id]
mjx/mujoco/mjx/warp/forward_test.py
+3 -3
View File
@@ -153,9 +153,9 @@ class ForwardTest(parameterized.TestCase):
mujoco.mju_sparse2dense(
ten_J,
d.ten_J,
d.ten_J_rownnz,
d.ten_J_rowadr,
d.ten_J_colind,
m.ten_J_rownnz,
m.ten_J_rowadr,
m.ten_J_colind,
)
tu.assert_eq(dx._impl.ten_J, ten_J, 'ten_J')
tu.assert_attr_eq(dx._impl, d, 'ten_wrapadr')
python/mujoco/indexer_xmacro.h
+4 -5
View File
@@ -259,7 +259,10 @@
X( mjtNum, tendon, _length0, ntendon, 1 ) \
X( mjtNum, tendon, _invweight0, ntendon, 1 ) \
X( mjtNum, tendon, _user, ntendon, MJ_M(nuser_tendon) ) \
X( float, tendon, _rgba, ntendon, 4 )
X( float, tendon, _rgba, ntendon, 4 ) \
X( int, ten_, J_rownnz, ntendon, 1 ) \
X( int, ten_, J_rowadr, ntendon, 1 ) \
X( int, ten_, J_colind, ntendon, MJ_M(nv) )
#define MJMODEL_TEXTURE \
X( int, tex_, type, ntex, 1 ) \
@@ -402,11 +405,7 @@
#define MJDATA_TENDON \
X( int, ten_, wrapadr , ntendon, 1 ) \
X( int, ten_, wrapnum , ntendon, 1 ) \
X( int, ten_, J_rownnz, ntendon, 1 ) \
X( int, ten_, J_rowadr, ntendon, 1 ) \
X( int, ten_, J_colind, ntendon, MJ_M(nv) ) \
X( mjtNum, ten_, length , ntendon, 1 ) \
X( mjtNum, ten_, J , ntendon, MJ_M(nv) ) \
X( mjtNum, ten_, velocity, ntendon, 1 )
#define MJDATA_VIEW_GROUPS \
python/mujoco/introspect/structs.py
+29 -29
View File
@@ -1122,6 +1122,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtSize'),
doc='number of tendons',
),
StructFieldDecl(
name='nJten',
type=ValueType(name='mjtSize'),
doc='number of non-zeros in sparse ten_J matrix',
),
StructFieldDecl(
name='nwrap',
type=ValueType(name='mjtSize'),
@@ -1242,11 +1247,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtSize'),
doc='number of non-zeros in sparse actuator_moment matrix',
),
StructFieldDecl(
name='nJten',
type=ValueType(name='mjtSize'),
doc='number of non-zeros in sparse ten_J matrix',
),
StructFieldDecl(
name='ngravcomp',
type=ValueType(name='mjtSize'),
@@ -3927,6 +3927,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc="first two trees along tendon's path",
array_extent=('ntendon', 2),
),
StructFieldDecl(
name='ten_J_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in Jacobian row',
array_extent=('ntendon',),
),
StructFieldDecl(
name='ten_J_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array',
array_extent=('ntendon',),
),
StructFieldDecl(
name='ten_J_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse Jacobian',
array_extent=('nJten',),
),
StructFieldDecl(
name='tendon_limited',
type=PointerType(
@@ -5812,30 +5836,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='number of wrap points in path',
array_extent=('ntendon',),
),
StructFieldDecl(
name='ten_J_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in Jacobian row',
array_extent=('ntendon',),
),
StructFieldDecl(
name='ten_J_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array',
array_extent=('ntendon',),
),
StructFieldDecl(
name='ten_J_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse Jacobian',
array_extent=('nJten',),
),
StructFieldDecl(
name='ten_J',
type=PointerType(
src/engine/engine_core_constraint.c
+23 -23
View File
@@ -568,16 +568,16 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
// copy Jacobian: sparse or dense
if (issparse) {
if (j == 0) {
NV = d->ten_J_rownnz[id[j]];
mju_copyInt(chain, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV);
mju_copy(jac[j], d->ten_J+d->ten_J_rowadr[id[j]], NV);
NV = m->ten_J_rownnz[id[j]];
mju_copyInt(chain, m->ten_J_colind+m->ten_J_rowadr[id[j]], NV);
mju_copy(jac[j], d->ten_J+m->ten_J_rowadr[id[j]], NV);
} else {
NV2 = d->ten_J_rownnz[id[j]];
mju_copyInt(chain2, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV2);
mju_copy(jac[j], d->ten_J+d->ten_J_rowadr[id[j]], NV2);
NV2 = m->ten_J_rownnz[id[j]];
mju_copyInt(chain2, m->ten_J_colind+m->ten_J_rowadr[id[j]], NV2);
mju_copy(jac[j], d->ten_J+m->ten_J_rowadr[id[j]], NV2);
}
} else {
mju_sparse2dense(jac[j], d->ten_J, 1, nv, d->ten_J_rownnz+id[j], d->ten_J_rowadr+id[j], d->ten_J_colind);
mju_sparse2dense(jac[j], d->ten_J, 1, nv, m->ten_J_rownnz+id[j], m->ten_J_rowadr+id[j], m->ten_J_colind);
}
}
}
@@ -737,13 +737,13 @@ void mj_instantiateFriction(const mjModel* m, mjData* d) {
int efcadr = d->nefc;
// add constraint
if (issparse) {
mj_addConstraint(m, d, d->ten_J + d->ten_J_rowadr[i],
mj_addConstraint(m, d, d->ten_J + m->ten_J_rowadr[i],
0, 0, m->tendon_frictionloss[i],
1, mjCNSTR_FRICTION_TENDON, i,
d->ten_J_rownnz[i],
d->ten_J_colind+d->ten_J_rowadr[i]);
m->ten_J_rownnz[i],
m->ten_J_colind+m->ten_J_rowadr[i]);
} else {
mju_sparse2dense(jac, d->ten_J, 1, nv, d->ten_J_rownnz+i, d->ten_J_rowadr+i, d->ten_J_colind);
mju_sparse2dense(jac, d->ten_J, 1, nv, m->ten_J_rownnz+i, m->ten_J_rowadr+i, m->ten_J_colind);
mj_addConstraint(m, d, jac, 0, 0, m->tendon_frictionloss[i],
1, mjCNSTR_FRICTION_TENDON, i, 0, NULL);
}
@@ -885,13 +885,13 @@ void mj_instantiateLimit(const mjModel* m, mjData* d) {
// prepare Jacobian
int efcadr = d->nefc;
if (issparse) {
mju_scl(jac, d->ten_J+d->ten_J_rowadr[i], -side, d->ten_J_rownnz[i]);
mju_scl(jac, d->ten_J+m->ten_J_rowadr[i], -side, m->ten_J_rownnz[i]);
mj_addConstraint(m, d, jac, &dist, &margin, 0,
1, mjCNSTR_LIMIT_TENDON, i,
d->ten_J_rownnz[i],
d->ten_J_colind+d->ten_J_rowadr[i]);
m->ten_J_rownnz[i],
m->ten_J_colind+m->ten_J_rowadr[i]);
} else {
mju_sparse2dense(jac, d->ten_J, 1, nv, d->ten_J_rownnz+i, d->ten_J_rowadr+i, d->ten_J_colind);
mju_sparse2dense(jac, d->ten_J, 1, nv, m->ten_J_rownnz+i, m->ten_J_rowadr+i, m->ten_J_colind);
mju_scl(jac, jac, -side, nv);
mj_addConstraint(m, d, jac, &dist, &margin, 0,
1, mjCNSTR_LIMIT_TENDON, i, 0, NULL);
@@ -1738,11 +1738,11 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
}
} else {
if (!j) {
NV = d->ten_J_rownnz[id[j]];
mju_copyInt(chain, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV);
NV = m->ten_J_rownnz[id[j]];
mju_copyInt(chain, m->ten_J_colind+m->ten_J_rowadr[id[j]], NV);
} else {
NV2 = d->ten_J_rownnz[id[j]];
mju_copyInt(chain2, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV2);
NV2 = m->ten_J_rownnz[id[j]];
mju_copyInt(chain2, m->ten_J_colind+m->ten_J_rowadr[id[j]], NV2);
}
}
}
@@ -1840,8 +1840,8 @@ static int mj_nf(const mjModel* m, const mjData* d, int *nnz) {
for (int i=0; i < ntendon; i++) {
if (m->tendon_frictionloss[i] > 0) {
nf += mj_addConstraintCount(m, 1, d->ten_J_rownnz[i]);
if (nnz) *nnz += d->ten_J_rownnz[i];
nf += mj_addConstraintCount(m, 1, m->ten_J_rownnz[i]);
if (nnz) *nnz += m->ten_J_rownnz[i];
}
}
@@ -1908,8 +1908,8 @@ static int mj_nl(const mjModel* m, const mjData* d, int *nnz) {
for (int i=0; i < ntendon; i++) {
int count = tendonLimit(m, d->ten_length, i);
for (int j = 0; j < count; j++) {
nl += mj_addConstraintCount(m, 1, d->ten_J_rownnz[i]);
if (nnz) *nnz += d->ten_J_rownnz[i];
nl += mj_addConstraintCount(m, 1, m->ten_J_rownnz[i]);
if (nnz) *nnz += m->ten_J_rownnz[i];
}
}
src/engine/engine_core_smooth.c
+20 -26
View File
@@ -905,7 +905,7 @@ void mj_flex(const mjModel* m, mjData* d) {
// compute tendon lengths and moments
void mj_tendon(const mjModel* m, mjData* d) {
int nv = m->nv, nten = m->ntendon;
int *rownnz = d->ten_J_rownnz, *rowadr = d->ten_J_rowadr, *colind = d->ten_J_colind;
const int *rownnz = m->ten_J_rownnz, *rowadr = m->ten_J_rowadr, *colind = m->ten_J_colind;
mjtNum *L = d->ten_length, *J = d->ten_J;
if (!nten) {
@@ -913,22 +913,20 @@ void mj_tendon(const mjModel* m, mjData* d) {
}
// allocate stack arrays
int *chain, *buf_ind;
mjtNum *jac1, *jac2, *jacdif, *tmp, *sparse_buf;
int *chain;
mjtNum *jac1, *jac2, *jacdif, *tmp;
mj_markStack(d);
jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
tmp = mjSTACKALLOC(d, nv, mjtNum);
chain = mjSTACKALLOC(d, nv, int);
buf_ind = mjSTACKALLOC(d, nv, int);
sparse_buf = mjSTACKALLOC(d, nv, mjtNum);
// clear results
mju_zero(L, nten);
// clear Jacobian
mju_zeroInt(rownnz, nten);
mju_zero(J, m->nJten);
// sleep filtering
int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
@@ -947,9 +945,6 @@ void mj_tendon(const mjModel* m, mjData* d) {
d->ten_wrapnum[i] = 0;
int tendon_num = m->tendon_num[i];
// sparse Jacobian row init
rowadr[i] = (i > 0 ? rowadr[i-1] + rownnz[i-1] : 0);
// process fixed tendon
if (m->wrap_type[adr] == mjWRAP_JOINT) {
// process all defined joints
@@ -960,11 +955,10 @@ void mj_tendon(const mjModel* m, mjData* d) {
// add to length
L[i] += m->wrap_prm[adr+j] * d->qpos[m->jnt_qposadr[k]];
// add to moment
rownnz[i] = mju_combineSparse(J+rowadr[i], &m->wrap_prm[adr+j], 1, 1,
rownnz[i], 1,
colind+rowadr[i], &m->jnt_dofadr[k],
sparse_buf, buf_ind);
mjtNum coef = 1;
int dofadr = m->jnt_dofadr[k];
mju_combineSparseInc(J + rowadr[i], &coef, m->nv, 1, m->wrap_prm[adr+j],
rownnz[i], 1, colind + rowadr[i], &dofadr);
}
continue;
@@ -1059,9 +1053,9 @@ void mj_tendon(const mjModel* m, mjData* d) {
mju_mulMatTVec(tmp, jacdif, dif, 3, NV);
// add to existing
rownnz[i] = mju_combineSparse(J+rowadr[i], tmp, 1, 1/divisor,
rownnz[i], NV, colind+rowadr[i],
chain, sparse_buf, buf_ind);
mju_combineSparseInc(J+rowadr[i], tmp, nv, 1, 1/divisor,
rownnz[i], NV, colind+rowadr[i],
chain);
}
}
@@ -1419,10 +1413,10 @@ void mj_transmission(const mjModel* m, mjData* d) {
// moment
{
int ten_J_rownnz = d->ten_J_rownnz[id];
int ten_J_rowadr = d->ten_J_rowadr[id];
int ten_J_rownnz = m->ten_J_rownnz[id];
int ten_J_rowadr = m->ten_J_rowadr[id];
rownnz[i] = ten_J_rownnz;
mju_copyInt(colind + adr, d->ten_J_colind + ten_J_rowadr, ten_J_rownnz);
mju_copyInt(colind + adr, m->ten_J_colind + ten_J_rowadr, ten_J_rownnz);
mju_scl(moment + adr, d->ten_J + ten_J_rowadr, gear[0], ten_J_rownnz);
}
@@ -1717,9 +1711,9 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
}
// get sparse info for tendon k
int J_rowadr = d->ten_J_rowadr[k];
int J_rownnz = d->ten_J_rownnz[k];
const int* J_colind = d->ten_J_colind + J_rowadr;
int J_rowadr = m->ten_J_rowadr[k];
int J_rownnz = m->ten_J_rownnz[k];
const int* J_colind = m->ten_J_colind + J_rowadr;
mjtNum* ten_J = d->ten_J + J_rowadr;
// M += armature * ten_J' * ten_J
@@ -2649,9 +2643,9 @@ void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc) {
if (coef) {
// sparse
int nnz = d->ten_J_rownnz[i];
int adr = d->ten_J_rowadr[i];
const int* colind = d->ten_J_colind + adr;
int nnz = m->ten_J_rownnz[i];
int adr = m->ten_J_rowadr[i];
const int* colind = m->ten_J_colind + adr;
const mjtNum* ten_J = d->ten_J + adr;
for (int j=0; j < nnz; j++) {
qfrc[colind[j]] += coef * ten_J[j];
src/engine/engine_derivative.c
+1 -1
View File
@@ -1776,7 +1776,7 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
}
// add sparse
addJTBJSparse(m, d, d->ten_J, &B, 1, i, d->ten_J_rownnz, d->ten_J_rowadr, d->ten_J_colind);
addJTBJSparse(m, d, d->ten_J, &B, 1, i, m->ten_J_rownnz, m->ten_J_rowadr, m->ten_J_colind);
}
}
src/engine/engine_forward.c
+1 -1
View File
@@ -232,7 +232,7 @@ void mj_fwdVelocity(const mjModel* m, mjData* d) {
// tendon velocity: always sparse
mju_mulMatVecSparse(d->ten_velocity, d->ten_J, d->qvel, m->ntendon,
d->ten_J_rownnz, d->ten_J_rowadr, d->ten_J_colind, NULL);
m->ten_J_rownnz, m->ten_J_rowadr, m->ten_J_colind, NULL);
// actuator velocity: always sparse
if (!mjDISABLED(mjDSBL_ACTUATION)) {
src/engine/engine_io.c
+14 -12
View File
@@ -211,10 +211,10 @@ void mj_makeModel(mjModel** dest,
mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap, mjtSize nskin,
mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nwrap,
mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext, mjtSize ntextdata,
mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap, mjtSize nplugin,
mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nJten,
mjtSize nwrap, mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext,
mjtSize ntextdata, mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap,
mjtSize nplugin, mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
mjtSize nuser_site, mjtSize nuser_cam, mjtSize nuser_tendon, mjtSize nuser_actuator,
mjtSize nuser_sensor, mjtSize nnames, mjtSize npaths) {
intptr_t offset = 0;
@@ -224,7 +224,7 @@ void mj_makeModel(mjModel** dest,
// CHECK SIZE PARAMETERS
{
// dummy variables for MJMODEL_SIZES set after mjModel construction
int nnames_map = 0, nJmom = 0, nJten = 0, ngravcomp = 0, nemax = 0, njmax = 0, nconmax=0;
int nnames_map = 0, nJmom = 0, ngravcomp = 0, nemax = 0, njmax = 0, nconmax=0;
int nuserdata=0, nsensordata=0, npluginstate=0, nhistory=0, narena=0, nbuffer=0;
// sizes must be non-negative and fit in int, except for the byte arrays texdata and textdata
@@ -243,7 +243,7 @@ void mj_makeModel(mjModel** dest,
#undef X
// suppress unused variable warnings
(void)nnames_map; (void)nJmom; (void)nJten; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
(void)nnames_map; (void)nJmom; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
(void)nuserdata; (void)nsensordata; (void)npluginstate; (void)nhistory; (void)narena;
(void)nbuffer;
}
@@ -323,6 +323,7 @@ void mj_makeModel(mjModel** dest,
m->nexclude = nexclude;
m->neq = neq;
m->ntendon = ntendon;
m->nJten = nJten;
m->nwrap = nwrap;
m->nsensor = nsensor;
m->nnumeric = nnumeric;
@@ -410,11 +411,11 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata,
src->ntex, src->ntexdata, src->nmat, src->npair, src->nexclude,
src->neq, src->ntendon, src->nwrap, src->nsensor, src->nnumeric,
src->nnumericdata, src->ntext, src->ntextdata, src->ntuple,
src->ntupledata, src->nkey, src->nmocap, src->nplugin, src->npluginattr,
src->nuser_body, src->nuser_jnt, src->nuser_geom, src->nuser_site,
src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->neq, src->ntendon, src->nJten, src->nwrap, src->nsensor,
src->nnumeric, src->nnumericdata, src->ntext, src->ntextdata,
src->ntuple, src->ntupledata, src->nkey, src->nmocap, src->nplugin,
src->npluginattr, src->nuser_body, src->nuser_jnt, src->nuser_geom,
src->nuser_site, src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->nuser_sensor, src->nnames, src->npaths);
}
if (!dest) {
@@ -597,7 +598,8 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
sizes[49], sizes[50], sizes[51], sizes[52], sizes[53], sizes[54], sizes[55],
sizes[56], sizes[57], sizes[58], sizes[59], sizes[60], sizes[61], sizes[62],
sizes[63], sizes[64], sizes[65], sizes[66], sizes[67], sizes[68], sizes[69],
sizes[70], sizes[71], sizes[72], sizes[73], sizes[74], sizes[75], sizes[76]);
sizes[70], sizes[71], sizes[72], sizes[73], sizes[74], sizes[75], sizes[76],
sizes[77]);
// mj_makeModel may fail if the input buffer has invalid sizes
if (!m) {
src/engine/engine_io.h
+4 -4
View File
@@ -58,10 +58,10 @@ void mj_makeModel(mjModel** dest,
mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap, mjtSize nskin,
mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nwrap,
mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext, mjtSize ntextdata,
mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap, mjtSize nplugin,
mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nJten,
mjtSize nwrap, mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext,
mjtSize ntextdata, mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap,
mjtSize nplugin, mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
mjtSize nuser_site, mjtSize nuser_cam, mjtSize nuser_tendon, mjtSize nuser_actuator,
mjtSize nuser_sensor, mjtSize nnames, mjtSize npaths);
src/engine/engine_passive.c
+3 -3
View File
@@ -473,9 +473,9 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
// transform to joint torque, add to qfrc_{spring, damper}
if (frc_spring || frc_damper) {
int end = d->ten_J_rowadr[i] + d->ten_J_rownnz[i];
for (int j=d->ten_J_rowadr[i]; j < end; j++) {
int k = d->ten_J_colind[j];
int end = m->ten_J_rowadr[i] + m->ten_J_rownnz[i];
for (int j=m->ten_J_rowadr[i]; j < end; j++) {
int k = m->ten_J_colind[j];
mjtNum J = d->ten_J[j];
d->qfrc_spring[k] += J * frc_spring;
d->qfrc_damper[k] += J * frc_damper;
src/engine/engine_print.c
+6 -6
View File
@@ -1441,12 +1441,12 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printArray2d("FLEXEDGE_LENGTH", m->nflexedge, 1, d->flexedge_length, fp, float_format);
printArray2d("TEN_LENGTH", m->ntendon, 1, d->ten_length, fp, float_format);
mj_printSparsity("TEN_J: tendon moments", m->ntendon, m->nv, d->ten_J_rowadr, NULL,
d->ten_J_rownnz, NULL, d->ten_J_colind, fp);
printArray2dInt("TEN_J_ROWNNZ", m->ntendon, 1, d->ten_J_rownnz, fp);
printArray2dInt("TEN_J_ROWADR", m->ntendon, 1, d->ten_J_rowadr, fp);
printSparse("TEN_J", d->ten_J, m->ntendon, d->ten_J_rownnz,
d->ten_J_rowadr, d->ten_J_colind, fp, float_format);
mj_printSparsity("TEN_J: tendon moments", m->ntendon, m->nv, m->ten_J_rowadr, NULL,
m->ten_J_rownnz, NULL, m->ten_J_colind, fp);
printArray2dInt("TEN_J_ROWNNZ", m->ntendon, 1, m->ten_J_rownnz, fp);
printArray2dInt("TEN_J_ROWADR", m->ntendon, 1, m->ten_J_rowadr, fp);
printSparse("TEN_J", d->ten_J, m->ntendon, m->ten_J_rownnz,
m->ten_J_rowadr, m->ten_J_colind, fp, float_format);
for (int i=0; i < m->ntendon; i++) {
fprintf(fp, "TENDON %d: %d wrap points\n", i, d->ten_wrapnum[i]);
for (int j=0; j < d->ten_wrapnum[i]; j++) {
src/engine/engine_setconst.c
+89 -1
View File
@@ -282,6 +282,93 @@ static void setFixed(mjModel* m, mjData* d) {
mj_freeStack(d);
}
// compute tendon Jacobian sparsity
static void makeTendonSparse(mjModel* m) {
int ntendon = m->ntendon;
int* rownnz = m->ten_J_rownnz;
int* rowadr = m->ten_J_rowadr;
int* colind = m->ten_J_colind;
if (!ntendon) {
return;
}
// clear
mju_zeroInt(rownnz, ntendon);
mju_zeroInt(rowadr, ntendon);
// compute rownnz, rowadr, and colind for each tendon
for (int i = 0; i < ntendon; i++) {
rowadr[i] = (i > 0 ? rowadr[i-1] + rownnz[i-1] : 0);
int adr = m->tendon_adr[i];
int num = m->tendon_num[i];
// joint tendon: each wrap object is a joint, colind is its dofadr
if (m->wrap_type[adr] == mjWRAP_JOINT) {
for (int j = 0; j < num; j++) {
colind[rowadr[i] + j] = m->jnt_dofadr[m->wrap_objid[adr + j]];
}
rownnz[i] = num;
} else {
// spatial tendon: collect used dofs from wrap object bodies
int nnz = 0;
for (int j = 0; j < num; j++) {
int type = m->wrap_type[adr + j];
// get body id from site or geom wrap object
int bodyid = -1;
if (type == mjWRAP_SITE) {
bodyid = m->site_bodyid[m->wrap_objid[adr + j]];
} else if (type == mjWRAP_SPHERE || type == mjWRAP_CYLINDER) {
bodyid = m->geom_bodyid[m->wrap_objid[adr + j]];
}
// walk up the body tree, collecting used dofs
if (bodyid > 0) {
int bid = bodyid;
while (bid > 0) {
int bdofadr = m->body_dofadr[bid];
int bdofnum = m->body_dofnum[bid];
for (int k = 0; k < bdofnum; k++) {
int dof = bdofadr + k;
// check if dof already in colind
int found = 0;
for (int l = 0; l < nnz; l++) {
if (colind[rowadr[i] + l] == dof) {
found = 1;
break;
}
}
// append new dof
if (!found) {
colind[rowadr[i] + nnz] = dof;
nnz++;
}
}
bid = m->body_parentid[bid];
}
}
}
rownnz[i] = nnz;
}
// sort colind for this tendon
int nnz = rownnz[i];
for (int j = 0; j < nnz - 1; j++) {
for (int k = j + 1; k < nnz; k++) {
// swap out-of-order entries
if (colind[rowadr[i] + k] < colind[rowadr[i] + j]) {
int tmp = colind[rowadr[i] + j];
colind[rowadr[i] + j] = colind[rowadr[i] + k];
colind[rowadr[i] + k] = tmp;
}
}
}
}
}
// compute flex sparsity: flexedge_J_{rowadr,rownnz,colind} and flexvert_J_{rowadr,rownnz}
static void makeFlexSparse(mjModel* m, mjData* d) {
int nv = m->nv;
@@ -552,6 +639,7 @@ static void mj_alignFlex(mjModel* m, mjData* d) {
// set quantities that depend on qpos0
static void set0(mjModel* m, mjData* d) {
makeTendonSparse(m);
makeFlexSparse(m, d);
mj_alignFlex(m, d);
int nv = m->nv;
@@ -756,7 +844,7 @@ static void set0(mjModel* m, mjData* d) {
// compute tendon_invweight0
for (int i=0; i < m->ntendon; i++) {
mju_sparse2dense(tmp, d->ten_J, 1, nv, d->ten_J_rownnz+i, d->ten_J_rowadr+i, d->ten_J_colind);
mju_sparse2dense(tmp, d->ten_J, 1, nv, m->ten_J_rownnz+i, m->ten_J_rowadr+i, m->ten_J_colind);
// solve into tmp+nv
mj_solveM(m, d, tmp+nv, tmp, 1);
src/user/user_model.cc
+33 -3
View File
@@ -907,6 +907,7 @@ void mjCModel::ComputeSparseSizes() {
// no dofs, quick return
if (nv == 0) {
nM = nD = nB = nC = 0;
nJten = 0;
return;
}
@@ -1084,6 +1085,37 @@ void mjCModel::ComputeSparseSizes() {
}
}
nC = nOD + nv;
nJten = 0;
if (nv > 0) {
std::vector<bool> dof_bitmap(nv, false);
for (const auto* tendon : tendons_) {
if (!tendon->path.empty() &&
tendon->path[0]->Type() == mjWRAP_JOINT) {
nJten += tendon->path.size();
continue;
}
std::fill(dof_bitmap.begin(), dof_bitmap.end(), false);
for (const auto* wrap : tendon->path) {
int bodyid = GetBodyIdFromWrap(wrap);
if (bodyid > 0) {
mjCBody* b = bodies_[bodyid];
while (b && b->id > 0) {
for (const auto* jnt : b->joints) {
for (int k = 0; k < jnt->nv(); k++) {
dof_bitmap[jnt->dofadr_ + k] = true;
}
}
b = b->GetParent();
}
}
}
for (int j = 0; j < nv; j++) {
nJten += dof_bitmap[j];
}
}
}
}
@@ -5073,7 +5105,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, nmeshpoly,
nmeshpolyvert, nmeshpolymap, nskin, nskinvert, nskintexvert, nskinface, nskinbone,
nskinbonevert, nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nwrap, nsensor, nnumeric, nnumericdata, ntext, ntextdata,
neq, ntendon, nJten, nwrap, nsensor, nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,
nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
nuser_tendon, nuser_actuator, nuser_sensor, nnames, npaths);
@@ -5105,8 +5137,6 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// compute non-zeros in actuator_moment
m->nJmom = nJmom = CountNJmom(m);
// compute non-zeros in ten_J
m->nJten = nJten = CountNJten(m);
// scale mass
if (compiler.settotalmass > 0) {
src/user/user_model.h
+1 -1
View File
@@ -73,6 +73,7 @@ class mjCModel_ : public mjsElement {
mjtSize nexclude; // number of excluded body pairs
mjtSize neq; // number of equality constraints
mjtSize ntendon; // number of tendons
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
mjtSize nsensor; // number of sensors
mjtSize nnumeric; // number of numeric fields
mjtSize ntext; // number of text fields
@@ -130,7 +131,6 @@ class mjCModel_ : public mjsElement {
mjtSize nC; // number of non-zeros in reduced sparse dof-dof matrix
mjtSize nD; // number of non-zeros in sparse dof-dof matrix
mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
// statistics, as computed by mj_setConst
double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst
test/engine/engine_core_smooth_test.cc
+4 -8
View File
@@ -154,12 +154,8 @@ TEST_F(CoreSmoothTest, FixedTendonSortedIndices) {
mjData* data = mj_makeData(model);
mj_fwdPosition(model, data);
int rowadr = data->ten_J_rowadr[0];
int* colind = data->ten_J_colind + rowadr;
mjtNum* J = data->ten_J + rowadr;
mjtNum* J = data->ten_J;
EXPECT_THAT(vector<mjtNum>(J, J + 3), ElementsAre(1, 2, 3));
EXPECT_THAT(vector<int>(colind, colind + 3), ElementsAre(0, 1, 2));
mj_deleteData(data);
mj_deleteModel(model);
@@ -253,11 +249,11 @@ TEST_F(CoreSmoothTest, TendonArmature) {
// add tendon inertias to M2 using outer product
for (int j=0; j < m->ntendon; j++) {
// get tendon Jacobian
int rowadr = d->ten_J_rowadr[j];
int* rownnz = d->ten_J_rownnz + j;
int rowadr = m->ten_J_rowadr[j];
int* rownnz = m->ten_J_rownnz + j;
int zero = 0;
mju_sparse2dense(ten_J.data(), d->ten_J + rowadr, 1, nv,
rownnz, &zero, d->ten_J_colind + rowadr);
rownnz, &zero, m->ten_J_colind + rowadr);
// get tendon inertia only, using outer product
mju_mulMatMat(ten_M.data(), ten_J.data(), ten_J.data(), nv, 1, nv);
test/user/user_model_test.cc
+42
View File
@@ -199,6 +199,48 @@ TEST_F(UserModelTest, ActuatorSparsity) {
mj_deleteModel(m);
}
TEST_F(UserModelTest, FixedTendonSparsity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size=".1"/>
<joint name="0"/>
</body>
<body pos="1 0 0">
<geom size=".1"/>
<joint name="1"/>
</body>
<body pos="2 0 0">
<geom size=".1"/>
<joint name="2"/>
</body>
</worldbody>
<tendon>
<fixed>
<joint coef="3" joint="2"/>
<joint coef="2" joint="1"/>
<joint coef="1" joint="0"/>
</fixed>
</tendon>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
EXPECT_EQ(m->nJten, 3);
EXPECT_EQ(m->ten_J_rownnz[0], 3);
EXPECT_EQ(m->ten_J_rowadr[0], 0);
EXPECT_EQ(m->wrap_type[m->tendon_adr[0]], mjWRAP_JOINT);
int rowadr = m->ten_J_rowadr[0];
int* colind = m->ten_J_colind + rowadr;
EXPECT_THAT(std::vector<int>(colind, colind + 3), ElementsAre(0, 1, 2));
mj_deleteModel(m);
}
TEST_F(UserModelTest, NestedZeroMassBodiesOK) {
static constexpr char xml[] = R"(
<mujoco>
unity/Runtime/Bindings/MjBindings.cs
+4 -4
View File
@@ -4994,9 +4994,6 @@ public unsafe struct mjData_ {
public double* bvh_aabb_dyn;
public int* ten_wrapadr;
public int* ten_wrapnum;
public int* ten_J_rownnz;
public int* ten_J_rowadr;
public int* ten_J_colind;
public double* ten_J;
public double* ten_length;
public int* wrap_obj;
@@ -5347,6 +5344,7 @@ public unsafe struct mjModel_ {
public Int64 nexclude;
public Int64 neq;
public Int64 ntendon;
public Int64 nJten;
public Int64 nwrap;
public Int64 nsensor;
public Int64 nnumeric;
@@ -5371,7 +5369,6 @@ public unsafe struct mjModel_ {
public Int64 npaths;
public Int64 nnames_map;
public Int64 nJmom;
public Int64 nJten;
public Int64 ngravcomp;
public Int64 nemax;
public Int64 njmax;
@@ -5712,6 +5709,9 @@ public unsafe struct mjModel_ {
public int* tendon_group;
public int* tendon_treenum;
public int* tendon_treeid;
public int* ten_J_rownnz;
public int* ten_J_rowadr;
public int* ten_J_colind;
public byte* tendon_limited;
public byte* tendon_actfrclimited;
public double* tendon_width;
wasm/codegen/generated/bindings.cc
+18 -18
View File
@@ -3934,6 +3934,12 @@ struct MjModel {
void set_ntendon(int value) {
ptr_->ntendon = static_cast<mjtSize>(value);
}
int nJten() const {
return static_cast<int>(ptr_->nJten);
}
void set_nJten(int value) {
ptr_->nJten = static_cast<mjtSize>(value);
}
int nwrap() const {
return static_cast<int>(ptr_->nwrap);
}
@@ -4078,12 +4084,6 @@ struct MjModel {
void set_nJmom(int value) {
ptr_->nJmom = static_cast<mjtSize>(value);
}
int nJten() const {
return static_cast<int>(ptr_->nJten);
}
void set_nJten(int value) {
ptr_->nJten = static_cast<mjtSize>(value);
}
int ngravcomp() const {
return static_cast<int>(ptr_->ngravcomp);
}
@@ -5125,6 +5125,15 @@ struct MjModel {
emscripten::val tendon_treeid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_treeid));
}
emscripten::val ten_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->ten_J_rownnz));
}
emscripten::val ten_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->ten_J_rowadr));
}
emscripten::val ten_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJten, ptr_->ten_J_colind));
}
emscripten::val tendon_limited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_limited));
}
@@ -6649,15 +6658,6 @@ struct MjData {
emscripten::val ten_wrapnum() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_wrapnum));
}
emscripten::val ten_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_J_rownnz));
}
emscripten::val ten_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_J_rowadr));
}
emscripten::val ten_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(model->nJten, ptr_->ten_J_colind));
}
emscripten::val ten_J() const {
return emscripten::val(emscripten::typed_memory_view(model->nJten, ptr_->ten_J));
}
@@ -11550,9 +11550,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("subtree_com", &MjData::subtree_com)
.property("subtree_linvel", &MjData::subtree_linvel)
.property("ten_J", &MjData::ten_J)
.property("ten_J_colind", &MjData::ten_J_colind)
.property("ten_J_rowadr", &MjData::ten_J_rowadr)
.property("ten_J_rownnz", &MjData::ten_J_rownnz)
.property("ten_length", &MjData::ten_length)
.property("ten_velocity", &MjData::ten_velocity)
.property("ten_wrapadr", &MjData::ten_wrapadr)
@@ -12100,6 +12097,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("skin_vertadr", &MjModel::skin_vertadr)
.property("skin_vertnum", &MjModel::skin_vertnum)
.property("stat", &MjModel::stat, reference())
.property("ten_J_colind", &MjModel::ten_J_colind)
.property("ten_J_rowadr", &MjModel::ten_J_rowadr)
.property("ten_J_rownnz", &MjModel::ten_J_rownnz)
.property("tendon_actfrclimited", &MjModel::tendon_actfrclimited)
.property("tendon_actfrcrange", &MjModel::tendon_actfrcrange)
.property("tendon_adr", &MjModel::tendon_adr)