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Put sparsity structures in mjModel, don't use them yet.

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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
This commit is contained in:
Yuval Tassa
2025-08-14 07:36:59 -07:00
committed by Copybara-Service
parent f077fd00a9
commit 7eb13777f8
9 changed files with 404 additions and 178 deletions
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python/mujoco/introspect/structs.py
+124 -20
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@@ -883,6 +883,26 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of joints',
),
StructFieldDecl(
name='nM',
type=ValueType(name='int'),
doc='number of non-zeros in sparse inertia matrix',
),
StructFieldDecl(
name='nB',
type=ValueType(name='int'),
doc='number of non-zeros in sparse body-dof matrix',
),
StructFieldDecl(
name='nC',
type=ValueType(name='int'),
doc='number of non-zeros in sparse reduced dof-dof matrix',
),
StructFieldDecl(
name='nD',
type=ValueType(name='int'),
doc='number of non-zeros in sparse dof-dof matrix',
),
StructFieldDecl(
name='ngeom',
type=ValueType(name='int'),
@@ -1188,26 +1208,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of slots in the names hash map',
),
StructFieldDecl(
name='nM',
type=ValueType(name='int'),
doc='number of non-zeros in sparse inertia matrix',
),
StructFieldDecl(
name='nB',
type=ValueType(name='int'),
doc='number of non-zeros in sparse body-dof matrix',
),
StructFieldDecl(
name='nC',
type=ValueType(name='int'),
doc='number of non-zeros in sparse reduced dof-dof matrix',
),
StructFieldDecl(
name='nD',
type=ValueType(name='int'),
doc='number of non-zeros in sparse dof-dof matrix',
),
StructFieldDecl(
name='nJmom',
type=ValueType(name='int'),
@@ -4605,6 +4605,110 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='paths to assets, 0-terminated',
array_extent=('npaths',),
),
StructFieldDecl(
name='B_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='body-dof: non-zeros in each row',
array_extent=('nbody',),
),
StructFieldDecl(
name='B_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='body-dof: row addresses',
array_extent=('nbody',),
),
StructFieldDecl(
name='B_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='body-dof: column indices',
array_extent=('nB',),
),
StructFieldDecl(
name='M_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced inertia: non-zeros in each row',
array_extent=('nv',),
),
StructFieldDecl(
name='M_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced inertia: row addresses',
array_extent=('nv',),
),
StructFieldDecl(
name='M_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced inertia: column indices',
array_extent=('nC',),
),
StructFieldDecl(
name='mapM2M',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='index mapping from qM to M',
array_extent=('nC',),
),
StructFieldDecl(
name='D_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='full inertia: non-zeros in each row',
array_extent=('nv',),
),
StructFieldDecl(
name='D_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='full inertia: row addresses',
array_extent=('nv',),
),
StructFieldDecl(
name='D_diag',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='full inertia: index of diagonal element',
array_extent=('nv',),
),
StructFieldDecl(
name='D_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='full inertia: column indices',
array_extent=('nD',),
),
StructFieldDecl(
name='mapM2D',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='index mapping from qM to D',
array_extent=('nD',),
),
StructFieldDecl(
name='mapD2M',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='index mapping from D to qM',
array_extent=('nM',),
),
StructFieldDecl(
name='signature',
type=ValueType(name='uint64_t'),