chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.

Browse Source 
PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
This commit is contained in:
Yuval Tassa
2025-05-13 10:19:22 -07:00
committed by Copybara-Service
parent 436b5a8e1f
commit 627fffdef9
18 changed files with 99 additions and 101 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/introspect/structs.py
+5 -5
View File
@@ -5398,7 +5398,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
),
doc="L'*D*L factorization of M (sparse)",
array_extent=('nM',),
array_extent=('nC',),
),
StructFieldDecl(
name='qLDiagInv',
@@ -5534,7 +5534,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
),
doc="L'*D*L factorization of modified M",
array_extent=('nM',),
array_extent=('nC',),
),
StructFieldDecl(
name='qHDiagInv',
@@ -6030,7 +6030,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='int'),
),
doc='inertia: column indices of non-zeros',
array_extent=('nM',),
array_extent=('nC',),
),
StructFieldDecl(
name='iM',
@@ -6038,7 +6038,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
),
doc='total inertia (sparse)',
array_extent=('nM',),
array_extent=('nC',),
),
StructFieldDecl(
name='iLD',
@@ -6046,7 +6046,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
),
doc="L'*D*L factorization of M (sparse)",
array_extent=('nM',),
array_extent=('nC',),
),
StructFieldDecl(
name='iLDiagInv',