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Move flexedge sparse Jacobian indices to mjModel.

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PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
This commit is contained in:
Alessio Quaglino
2026-01-13 07:32:31 -08:00
committed by Copybara-Service
parent 09a6fb7d4d
commit a49576e469
17 changed files with 70 additions and 75 deletions
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python/mujoco/introspect/structs.py
+24 -24
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@@ -2971,6 +2971,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='number of bounding volumes',
array_extent=('nflex',),
),
StructFieldDecl(
name='flexedge_J_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in Jacobian row',
array_extent=('nflexedge',),
),
StructFieldDecl(
name='flexedge_J_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array',
array_extent=('nflexedge',),
),
StructFieldDecl(
name='flexedge_J_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse Jacobian',
array_extent=('nflexedge', 'nv'),
),
StructFieldDecl(
name='flex_rgba',
type=PointerType(
@@ -5564,30 +5588,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='flex element bounding boxes (center, size)',
array_extent=('nflexelem', 6),
),
StructFieldDecl(
name='flexedge_J_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in Jacobian row',
array_extent=('nflexedge',),
),
StructFieldDecl(
name='flexedge_J_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array',
array_extent=('nflexedge',),
),
StructFieldDecl(
name='flexedge_J_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse Jacobian',
array_extent=('nflexedge', 'nv'),
),
StructFieldDecl(
name='flexedge_J',
type=PointerType(