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Minimize generated WARP types diff

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This commit is contained in:
Tarik Kelestemur
2026-05-30 16:29:27 -04:00
parent f8a12a827f
commit 9bd8daf53b
1 changed files with 8 additions and 6 deletions
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mjx/mujoco/mjx/warp/types.py
+8 -6
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@@ -88,12 +88,16 @@ class BlockDim:
energy_vel_kinetic: energy velocity kinetic block dimension (sensor)
cholesky_factorize: Cholesky factorize block dimension (smooth)
cholesky_solve: Cholesky solve block dimension (smooth)
cholesky_factorize_solve: Cholesky factorize and solve block dimension (smooth)
cholesky_factorize_solve: Cholesky factorize and solve block dimension
(smooth)
solve_LD_sparse_fused: solve LD sparse fused block dimension (smooth)
update_gradient_cholesky: update gradient Cholesky block dimension (solver)
update_gradient_cholesky_blocked: update gradient Cholesky blocked block dimension (solver)
update_gradient_JTDAJ_sparse: update gradient JTDAJ sparse block dimension (solver)
update_gradient_JTDAJ_dense: update gradient JTDAJ dense block dimension (solver)
update_gradient_cholesky_blocked: update gradient Cholesky blocked block
dimension (solver)
update_gradient_JTDAJ_sparse: update gradient JTDAJ sparse block dimension
(solver)
update_gradient_JTDAJ_dense: update gradient JTDAJ dense block dimension
(solver)
linesearch_iterative: linesearch iterative block dimension (solver)
contact_jac_tiled: contact Jacobian tiled block dimension (solver)
qderiv_actuator_dense: qderiv actuator dense block dimension (derivative)
@@ -153,7 +157,6 @@ class OptionWarp(PyTreeNode):
class ModelWarp(PyTreeNode):
"""Derived fields from Model."""
D_colind: np.ndarray
D_diag: np.ndarray
D_rowadr: np.ndarray
@@ -336,7 +339,6 @@ class ModelWarp(PyTreeNode):
class DataWarp(PyTreeNode):
"""Derived fields from Data."""
M: jax.Array
actuator_moment: jax.Array
actuator_velocity: jax.Array