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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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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(