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Precount number of non-zeros for constraint Jacobian sparse matrix.

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PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
This commit is contained in:
Kyle Bayes
2023-02-28 08:57:01 -08:00
committed by Copybara-Service
parent 90b5dd14ca
commit 50bebcb4ee
15 changed files with 521 additions and 165 deletions
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test/engine/testdata/core_constraint/dofless_contact.xml
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<mujoco>
<default>
<geom rgba=".5 .5 .5 .5"/>
</default>
<worldbody>
<body>
<geom name="1" size="1"/>
</body>
<body>
<geom name="2" size="1" pos="1.5 0 0"/>
</body>
</worldbody>
<contact>
<pair geom1="1" geom2="2"/>
</contact>
</mujoco>
test/engine/testdata/core_constraint/dofless_tendon_frictional.xml
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<mujoco>
<worldbody>
<site name="1"/>
<site name="2" pos="1 0 0"/>
</worldbody>
<tendon>
<spatial frictionloss="1">
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
</mujoco>
test/engine/testdata/core_constraint/dofless_tendon_limited.xml
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<mujoco>
<worldbody>
<site name="1"/>
<site name="2" pos="1 0 0"/>
</worldbody>
<tendon>
<spatial limited="true" range="0 0.5">
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
</mujoco>
test/engine/testdata/core_constraint/dofless_tendon_limitedmargin.xml
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<mujoco>
<worldbody>
<site name="1"/>
<site name="2" pos="1 0 0"/>
</worldbody>
<tendon>
<spatial limited="true" range="0.99 1.01" margin="0.1">
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
</mujoco>
test/engine/testdata/core_constraint/dofless_weld.xml
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<mujoco>
<worldbody>
<body name="1" >
<freejoint />
<geom size="1" pos="7 0 0"/>
</body>
<body name="2" >
<freejoint />
<geom size="1" pos="8.5 0 0"/>
</body>
<body name="3" >
<geom size="1"/>
</body>
<body name="4" >
<geom size="1" pos="1.5 0 0"/>
</body>
</worldbody>
<equality>
<weld body1="1" body2="2"/>
<weld body1="3" body2="4"/>
</equality>
</mujoco>
test/engine/testdata/core_constraint/joint_limited_bilateral_margin.xml
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<mujoco>
<worldbody>
<body>
<joint axis="1 0 0" range="0 0.1" limited="true" margin="0.2"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/core_constraint/tendon_limited_bilateral_margin.xml
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<mujoco>
<worldbody>
<site name="1"/>
<body pos="1 0 0">
<site name="2"/>
<freejoint/>
<geom size=".01"/>
</body>
</worldbody>
<tendon>
<spatial limited="true" range="0.99 1.01" margin="0.1">
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
</mujoco>