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Minor changes to inline comments in mjModel and mjData headers.
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PiperOrigin-RevId: 688231631
Change-Id: Iae5430142cab256a73a0fb8c698992ceba21b28c
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@saran-t @copybara-github
saran-t authored and copybara-github committed Oct 21, 2024
1 parent aa91f3c commit 98478f8
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Showing 4 changed files with 13 additions and 13 deletions.
8 changes: 4 additions & 4 deletions doc/includes/references.h
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Original file line number Diff line number Diff line change
Expand Up @@ -256,8 +256,8 @@ struct mjData_ {
int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap*2 x 1)
mjtNum* wrap_xpos; // Cartesian 3D points in all path (nwrap*2 x 3)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
mjtNum* wrap_xpos; // Cartesian 3D points in all paths (nwrap x 6)

// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths (nu x 1)
Expand Down Expand Up @@ -1388,8 +1388,8 @@ struct mjModel_ {
mjtNum* key_qpos; // key position (nkey x nq)
mjtNum* key_qvel; // key velocity (nkey x nv)
mjtNum* key_act; // key activation (nkey x na)
mjtNum* key_mpos; // key mocap position (nkey x 3*nmocap)
mjtNum* key_mquat; // key mocap quaternion (nkey x 4*nmocap)
mjtNum* key_mpos; // key mocap position (nkey x nmocap*3)
mjtNum* key_mquat; // key mocap quaternion (nkey x nmocap*4)
mjtNum* key_ctrl; // key control (nkey x nu)

// names
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4 changes: 2 additions & 2 deletions include/mujoco/mjdata.h
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Expand Up @@ -284,8 +284,8 @@ struct mjData_ {
int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap*2 x 1)
mjtNum* wrap_xpos; // Cartesian 3D points in all path (nwrap*2 x 3)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
mjtNum* wrap_xpos; // Cartesian 3D points in all paths (nwrap x 6)

// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths (nu x 1)
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4 changes: 2 additions & 2 deletions include/mujoco/mjmodel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1095,8 +1095,8 @@ struct mjModel_ {
mjtNum* key_qpos; // key position (nkey x nq)
mjtNum* key_qvel; // key velocity (nkey x nv)
mjtNum* key_act; // key activation (nkey x na)
mjtNum* key_mpos; // key mocap position (nkey x 3*nmocap)
mjtNum* key_mquat; // key mocap quaternion (nkey x 4*nmocap)
mjtNum* key_mpos; // key mocap position (nkey x nmocap*3)
mjtNum* key_mquat; // key mocap quaternion (nkey x nmocap*4)
mjtNum* key_ctrl; // key control (nkey x nu)

// names
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10 changes: 5 additions & 5 deletions introspect/structs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4075,15 +4075,15 @@
inner_type=ValueType(name='mjtNum'),
),
doc='key mocap position',
array_extent=('nkey', '3*nmocap'),
array_extent=('nkey', 'nmocap*3'),
),
StructFieldDecl(
name='key_mquat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='key mocap quaternion',
array_extent=('nkey', '4*nmocap'),
array_extent=('nkey', 'nmocap*4'),
),
StructFieldDecl(
name='key_ctrl',
Expand Down Expand Up @@ -5126,15 +5126,15 @@
inner_type=ValueType(name='int'),
),
doc='geom id; -1: site; -2: pulley',
array_extent=('nwrap*2',),
array_extent=('nwrap', 2),
),
StructFieldDecl(
name='wrap_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian 3D points in all path',
array_extent=('nwrap*2', 3),
doc='Cartesian 3D points in all paths',
array_extent=('nwrap', 6),
),
StructFieldDecl(
name='actuator_length',
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