Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.

PiperOrigin-RevId: 698343986 Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:29:55 -08:00
parent cd84011d7b
commit aae5fd6906
13 changed files with 78 additions and 33 deletions
@@ -1178,6 +1178,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 type=ValueType(name='int'),
                 doc='number of non-zeros in sparse dof-dof matrix',
             ),
+             StructFieldDecl(
+                 name='nJmom',
+                 type=ValueType(name='int'),
+                 doc='number of non-zeros in sparse actuator_moment matrix',
+             ),
             StructFieldDecl(
                 name='ntree',
                 type=ValueType(name='int'),
@@ -5166,7 +5171,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                     inner_type=ValueType(name='int'),
                 ),
                 doc='column indices in sparse Jacobian',
-                 array_extent=('nu', 'nv'),
+                 array_extent=('nJmom',),
             ),
             StructFieldDecl(
                 name='actuator_moment',
@@ -5174,7 +5179,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                     inner_type=ValueType(name='mjtNum'),
                 ),
                 doc='actuator moments',
-                 array_extent=('nu', 'nv'),
+                 array_extent=('nJmom',),
             ),
             StructFieldDecl(
                 name='crb',