chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Reduce flexedge_J size from nflexedge x nv to the effective sparse size.

Browse Source 
PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
This commit is contained in:
Alessio Quaglino
2026-01-14 11:17:47 -08:00
committed by Copybara-Service
parent cbc1136502
commit e56b31e98f
22 changed files with 123 additions and 117 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/mujoco/mjx/_src/io.py
+1 -1
View File
@@ -754,7 +754,7 @@ def _make_data_c(
'light_xdir': (m.nlight, 3, float_),
'flexvert_xpos': (nflexvert, 3, float_),
'flexelem_aabb': (nflexelem, 6, float_),
'flexedge_J': (nflexedge, m.nv, float_),
'flexedge_J': (m.nJfe, float_),
'flexedge_length': (nflexedge, float_),
'ten_J_rownnz': (m.ntendon, np.int32),
'ten_J_rowadr': (m.ntendon, np.int32),