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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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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(