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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/user/user_model_test.cc
+42
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@@ -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>