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Compress actuator_moment memory using nJmom <= nu x nv.

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PiperOrigin-RevId: 698446692
Change-Id: I49c9633e12129a1e690724db82d1f11204e41d9c
This commit is contained in:
Taylor Howell
2024-11-20 10:52:20 -08:00
committed by Copybara-Service
parent aae5fd6906
commit a1b18e707a
4 changed files with 64 additions and 8 deletions
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test/user/user_model_test.cc
+1 -1
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@@ -136,7 +136,7 @@ TEST_F(UserCModelTest, ActuatorSparsity) {
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nJmom, 4);
ASSERT_EQ(m->nJmom, 2);
mj_deleteModel(m);
}