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Move flex vertex-edge adjacency to mjModel.

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PiperOrigin-RevId: 861717037
Change-Id: I2ad8090b0318cb04b43d13966cb42260c82ef930
This commit is contained in:
Alessio Quaglino
2026-01-27 07:41:01 -08:00
committed by Copybara-Service
parent 669e9b7484
commit ba32568138
8 changed files with 239 additions and 175 deletions
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python/mujoco/introspect/structs.py
+32
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@@ -2765,6 +2765,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='vertex body ids',
array_extent=('nflexvert',),
),
StructFieldDecl(
name='flex_vertedgeadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first edge address',
array_extent=('nflexvert',),
),
StructFieldDecl(
name='flex_vertedgenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of edges',
array_extent=('nflexvert',),
),
StructFieldDecl(
name='flex_vertedge',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='edge indices',
array_extent=('nflexedge', 2),
),
StructFieldDecl(
name='flex_edge',
type=PointerType(
@@ -2845,6 +2869,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='vertex positions in qpos0 on [0, 1]^d',
array_extent=('nflexvert', 3),
),
StructFieldDecl(
name='flex_vertmetric',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='inverse of reference shape matrix',
array_extent=('nflexvert', 4),
),
StructFieldDecl(
name='flex_node',
type=PointerType(