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Sparse ten_J and ten_J_colind

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PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
This commit is contained in:
Taylor Howell
2026-02-13 06:55:42 -08:00
committed by Copybara-Service
parent 277f469239
commit 5903d4826f
21 changed files with 118 additions and 43 deletions
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wasm/codegen/generated/bindings.cc
+9 -2
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@@ -4078,6 +4078,12 @@ 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);
}
@@ -6650,10 +6656,10 @@ struct MjData {
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->ntendon * model->nv, ptr_->ten_J_colind));
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->ntendon * model->nv, ptr_->ten_J));
return emscripten::val(emscripten::typed_memory_view(model->nJten, ptr_->ten_J));
}
emscripten::val ten_length() const {
return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_length));
@@ -11897,6 +11903,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nJfe", &MjModel::nJfe, &MjModel::set_nJfe, reference())
.property("nJfv", &MjModel::nJfv, &MjModel::set_nJfv, reference())
.property("nJmom", &MjModel::nJmom, &MjModel::set_nJmom, reference())
.property("nJten", &MjModel::nJten, &MjModel::set_nJten, reference())
.property("nM", &MjModel::nM, &MjModel::set_nM, reference())
.property("na", &MjModel::na, &MjModel::set_na, reference())
.property("name_actuatoradr", &MjModel::name_actuatoradr)