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Rename C sparse structure to M in mjdata, improve docstrings.

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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
This commit is contained in:
Yuval Tassa
2025-05-14 05:25:11 -07:00
committed by Copybara-Service
parent 4ba04586ae
commit dd28b887d4
21 changed files with 128 additions and 128 deletions
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python/mujoco/introspect/structs.py
+16 -16
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@@ -5413,7 +5413,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='total inertia (sparse)',
doc='inertia (sparse)',
array_extent=('nM',),
),
StructFieldDecl(
@@ -5421,7 +5421,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='total inertia (compressed sparse row)',
doc='reduced inertia (compressed sparse row)',
array_extent=('nC',),
),
StructFieldDecl(
@@ -5601,35 +5601,35 @@ STRUCTS: Mapping[str, StructDecl] = dict([
array_extent=('nB',),
),
StructFieldDecl(
name='C_rownnz',
name='M_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced dof-dof: non-zeros in each row',
doc='reduced inertia: non-zeros in each row',
array_extent=('nv',),
),
StructFieldDecl(
name='C_rowadr',
name='M_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced dof-dof: address of each row in C_colind',
doc='reduced inertia: address of each row in M_colind',
array_extent=('nv',),
),
StructFieldDecl(
name='C_colind',
name='M_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced dof-dof: column indices of non-zeros',
doc='reduced inertia: column indices of non-zeros',
array_extent=('nC',),
),
StructFieldDecl(
name='mapM2C',
name='mapM2M',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='index mapping from M to C',
doc='index mapping from qM to M',
array_extent=('nC',),
),
StructFieldDecl(
@@ -5637,7 +5637,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='dof-dof: non-zeros in each row',
doc='full inertia: non-zeros in each row',
array_extent=('nv',),
),
StructFieldDecl(
@@ -5645,7 +5645,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='dof-dof: address of each row in D_colind',
doc='full inertia: address of each row in D_colind',
array_extent=('nv',),
),
StructFieldDecl(
@@ -5653,7 +5653,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='dof-dof: index of diagonal element',
doc='full inertia: index of diagonal element',
array_extent=('nv',),
),
StructFieldDecl(
@@ -5661,7 +5661,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='dof-dof: column indices of non-zeros',
doc='full inertia: column indices of non-zeros',
array_extent=('nD',),
),
StructFieldDecl(
@@ -5669,7 +5669,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='index mapping from M to D',
doc='index mapping from qM to D',
array_extent=('nD',),
),
StructFieldDecl(
@@ -5677,7 +5677,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='index mapping from D to M',
doc='index mapping from D to qM',
array_extent=('nM',),
),
StructFieldDecl(