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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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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>