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Allocate qM CSR matrix structure on mjData (currently empty).

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PiperOrigin-RevId: 733247419
Change-Id: I814e574e3161875e89433a6e03f2c9e200d8b1d6
This commit is contained in:
Yuval Tassa
2025-03-04 02:36:54 -08:00
committed by Copybara-Service
parent 8f37ae1bf2
commit c72c83aa3b
7 changed files with 60 additions and 0 deletions
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doc/includes/references.h
+4
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@@ -312,6 +312,10 @@ struct mjData_ {
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
int* B_rowadr; // body-dof: address of each row in B_colind (nbody x 1)
int* B_colind; // body-dof: column indices of non-zeros (nB x 1)
int* M_rownnz; // inertia: non-zeros in each row (nv x 1)
int* M_rowadr; // inertia: address of each row in M_colind (nv x 1)
int* M_colind; // inertia: column indices of non-zeros (nM x 1)
int* mapM2M; // index mapping from M (legacy) to M (CSR) (nM x 1)
int* C_rownnz; // reduced dof-dof: non-zeros in each row (nv x 1)
int* C_rowadr; // reduced dof-dof: address of each row in C_colind (nv x 1)
int* C_colind; // reduced dof-dof: column indices of non-zeros (nC x 1)
include/mujoco/mjdata.h
+4
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@@ -340,6 +340,10 @@ struct mjData_ {
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
int* B_rowadr; // body-dof: address of each row in B_colind (nbody x 1)
int* B_colind; // body-dof: column indices of non-zeros (nB x 1)
int* M_rownnz; // inertia: non-zeros in each row (nv x 1)
int* M_rowadr; // inertia: address of each row in M_colind (nv x 1)
int* M_colind; // inertia: column indices of non-zeros (nM x 1)
int* mapM2M; // index mapping from M (legacy) to M (CSR) (nM x 1)
int* C_rownnz; // reduced dof-dof: non-zeros in each row (nv x 1)
int* C_rowadr; // reduced dof-dof: address of each row in C_colind (nv x 1)
int* C_colind; // reduced dof-dof: column indices of non-zeros (nC x 1)
include/mujoco/mjxmacro.h
+4
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@@ -672,6 +672,10 @@
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
X ( int, B_colind, nB, 1 ) \
X ( int, M_rownnz, nv, 1 ) \
X ( int, M_rowadr, nv, 1 ) \
X ( int, M_colind, nM, 1 ) \
X ( int, mapM2M, nM, 1 ) \
X ( int, C_rownnz, nv, 1 ) \
X ( int, C_rowadr, nv, 1 ) \
X ( int, C_colind, nC, 1 ) \
mjx/mujoco/mjx/_src/io.py
+4
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@@ -339,6 +339,10 @@ def make_data(
'B_rownnz': (m.nbody, jp.int32),
'B_rowadr': (m.nbody, jp.int32),
'B_colind': (m.nB, jp.int32),
'M_rownnz': (m.nv, jp.int32),
'M_rowadr': (m.nv, jp.int32),
'M_colind': (m.nM, jp.int32),
'mapM2M': (m.nM, jp.int32),
'C_rownnz': (m.nv, jp.int32),
'C_rowadr': (m.nv, jp.int32),
'C_colind': (m.nC, jp.int32),
mjx/mujoco/mjx/_src/types.py
+8
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@@ -1316,6 +1316,10 @@ class Data(PyTreeNode):
B_rownnz: body-dof: non-zeros in each row (nbody,)
B_rowadr: body-dof: address of each row in B_colind (nbody,)
B_colind: body-dof: column indices of non-zeros (nB,)
M_rownnz: inertia: non-zeros in each row (nv,)
M_rowadr: inertia: address of each row in M_colind (nv,)
M_colind: inertia: column indices of non-zeros (nM,)
mapM2M: index mapping from M (legacy) to M (CSR) (nM,)
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_colind: reduced dof-dof: column indices of non-zeros (nC,)
@@ -1445,6 +1449,10 @@ class Data(PyTreeNode):
B_rownnz: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
B_rowadr: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
B_colind: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
M_rownnz: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
M_rowadr: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
M_colind: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
mapM2M: 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_colind: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
python/mujoco/introspect/structs.py
+32
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@@ -5526,6 +5526,38 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='body-dof: column indices of non-zeros',
array_extent=('nB',),
),
StructFieldDecl(
name='M_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='inertia: non-zeros in each row',
array_extent=('nv',),
),
StructFieldDecl(
name='M_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='inertia: address of each row in M_colind',
array_extent=('nv',),
),
StructFieldDecl(
name='M_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='inertia: column indices of non-zeros',
array_extent=('nM',),
),
StructFieldDecl(
name='mapM2M',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='index mapping from M (legacy) to M (CSR)',
array_extent=('nM',),
),
StructFieldDecl(
name='C_rownnz',
type=PointerType(
unity/Runtime/Bindings/MjBindings.cs
+4
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@@ -4942,6 +4942,10 @@ public unsafe struct mjData_ {
public int* B_rownnz;
public int* B_rowadr;
public int* B_colind;
public int* M_rownnz;
public int* M_rowadr;
public int* M_colind;
public int* mapM2M;
public int* C_rownnz;
public int* C_rowadr;
public int* C_colind;