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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
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include/mujoco/mjdata.h
-3
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@@ -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)