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Remove mjData.C_diag, no longer required as C is now lower triangular.

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PiperOrigin-RevId: 712514204
Change-Id: I8293f65ebc09c6a8fed76b0e59d2e2a667e01a43
This commit is contained in:
Yuval Tassa
2025-01-06 06:57:19 -08:00
committed by Copybara-Service
parent ac11e5faa6
commit b5df2c10bf
9 changed files with 13 additions and 26 deletions
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mjx/mujoco/mjx/_src/io.py
-1
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@@ -332,7 +332,6 @@ def make_data(
'B_colind': (m.nB, jp.int32),
'C_rownnz': (m.nv, jp.int32),
'C_rowadr': (m.nv, jp.int32),
'C_diag': (m.nv, jp.int32),
'C_colind': (m.nC, jp.int32),
'mapM2C': (m.nC, jp.int32),
'D_rownnz': (m.nv, jp.int32),
mjx/mujoco/mjx/_src/types.py
-2
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@@ -1296,7 +1296,6 @@ class Data(PyTreeNode):
B_colind: body-dof: column indices of non-zeros (nB,)
C_rownnz: reduced dof-dof: non-zeros in each row (nv,)
C_rowadr: reduced dof-dof: address of each row in C_colind (nv,)
C_diag: reduced dof-dof: index of diagonal element (nv,)
C_colind: reduced dof-dof: column indices of non-zeros (nC,)
mapM2C: index mapping from M to C (nC,)
D_rownnz: dof-dof: non-zeros in each row (nv,)
@@ -1426,7 +1425,6 @@ class Data(PyTreeNode):
B_colind: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
C_rownnz: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
C_rowadr: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
C_diag: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
C_colind: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
mapM2C: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
D_rownnz: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name