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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/mjxmacro.h
+4 -4
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@@ -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 ) \