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Move Newton Hessian memory allocation from stack to arena.

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PiperOrigin-RevId: 684054446
Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
This commit is contained in:
Yuval Tassa
2024-10-09 08:53:40 -07:00
committed by Copybara-Service
parent 356d172f56
commit 9a0dc20821
4 changed files with 92 additions and 57 deletions
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python/mujoco/bindings_test.py
+10 -2
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@@ -1360,12 +1360,20 @@ Euler integrator, semi-implicit in velocity.
# (e.g. because the internal output buffer is too small)
self.assertIn('mujoco', mujoco.mj_printSchema(flg_html, flg_pad))
def test_pickle_mjdata_before_step(self):
data2 = pickle.loads(pickle.dumps(self.data))
attr_to_compare = (
'time', 'qpos', 'qvel', 'qacc', 'xpos', 'mocap_pos',
'warning', 'energy', 'contact', 'efc_J', 'L'
)
self._assert_attributes_equal(data2, self.data, attr_to_compare)
def test_pickle_mjdata(self):
mujoco.mj_step(self.model, self.data)
data2 = pickle.loads(pickle.dumps(self.data))
attr_to_compare = (
'time', 'qpos', 'qvel', 'qacc', 'xpos', 'mocap_pos',
'warning', 'energy', 'contact', 'efc_J'
'warning', 'energy', 'contact', 'efc_J', 'L'
)
self._assert_attributes_equal(data2, self.data, attr_to_compare)
for _ in range(10):
@@ -1379,7 +1387,7 @@ Euler integrator, semi-implicit in velocity.
data2 = pickle.loads(pickle.dumps(self.data))
attr_to_compare = (
'time', 'qpos', 'qvel', 'qacc', 'xpos', 'mocap_pos',
'warning', 'energy', 'contact', 'efc_J'
'warning', 'energy', 'contact', 'efc_J', 'L'
)
self._assert_attributes_equal(data2, self.data, attr_to_compare)
for _ in range(10):