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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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wasm/codegen/generated/bindings.cc
+18 -18
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@@ -3934,6 +3934,12 @@ struct MjModel {
void set_ntendon(int value) {
ptr_->ntendon = static_cast<mjtSize>(value);
}
int nJten() const {
return static_cast<int>(ptr_->nJten);
}
void set_nJten(int value) {
ptr_->nJten = static_cast<mjtSize>(value);
}
int nwrap() const {
return static_cast<int>(ptr_->nwrap);
}
@@ -4078,12 +4084,6 @@ struct MjModel {
void set_nJmom(int value) {
ptr_->nJmom = static_cast<mjtSize>(value);
}
int nJten() const {
return static_cast<int>(ptr_->nJten);
}
void set_nJten(int value) {
ptr_->nJten = static_cast<mjtSize>(value);
}
int ngravcomp() const {
return static_cast<int>(ptr_->ngravcomp);
}
@@ -5125,6 +5125,15 @@ struct MjModel {
emscripten::val tendon_treeid() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_treeid));
}
emscripten::val ten_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->ten_J_rownnz));
}
emscripten::val ten_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->ten_J_rowadr));
}
emscripten::val ten_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJten, ptr_->ten_J_colind));
}
emscripten::val tendon_limited() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_limited));
}
@@ -6649,15 +6658,6 @@ struct MjData {
emscripten::val ten_wrapnum() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_wrapnum));
}
emscripten::val ten_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_J_rownnz));
}
emscripten::val ten_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_J_rowadr));
}
emscripten::val ten_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(model->nJten, ptr_->ten_J_colind));
}
emscripten::val ten_J() const {
return emscripten::val(emscripten::typed_memory_view(model->nJten, ptr_->ten_J));
}
@@ -11550,9 +11550,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("subtree_com", &MjData::subtree_com)
.property("subtree_linvel", &MjData::subtree_linvel)
.property("ten_J", &MjData::ten_J)
.property("ten_J_colind", &MjData::ten_J_colind)
.property("ten_J_rowadr", &MjData::ten_J_rowadr)
.property("ten_J_rownnz", &MjData::ten_J_rownnz)
.property("ten_length", &MjData::ten_length)
.property("ten_velocity", &MjData::ten_velocity)
.property("ten_wrapadr", &MjData::ten_wrapadr)
@@ -12100,6 +12097,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("skin_vertadr", &MjModel::skin_vertadr)
.property("skin_vertnum", &MjModel::skin_vertnum)
.property("stat", &MjModel::stat, reference())
.property("ten_J_colind", &MjModel::ten_J_colind)
.property("ten_J_rowadr", &MjModel::ten_J_rowadr)
.property("ten_J_rownnz", &MjModel::ten_J_rownnz)
.property("tendon_actfrclimited", &MjModel::tendon_actfrclimited)
.property("tendon_actfrcrange", &MjModel::tendon_actfrcrange)
.property("tendon_adr", &MjModel::tendon_adr)