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Delete sparsity structures from mjData, use the ones in mjModel

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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
This commit is contained in:
Yuval Tassa
2025-08-14 09:11:47 -07:00
committed by Copybara-Service
parent 7eb13777f8
commit 977f94e9df
25 changed files with 120 additions and 349 deletions
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python/mujoco/introspect/structs.py
-104
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@@ -5770,110 +5770,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='1/diag(D) of modified M',
array_extent=('nv',),
),
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: address of each row in B_colind',
array_extent=('nbody',),
),
StructFieldDecl(
name='B_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='body-dof: column indices of non-zeros',
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: address of each row in M_colind',
array_extent=('nv',),
),
StructFieldDecl(
name='M_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced inertia: column indices of non-zeros',
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: address of each row in D_colind',
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 of non-zeros',
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='qDeriv',
type=PointerType(