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Improve mj_addM and associated test

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- Updated docs to clarify that only the lower triangle is touched
- The function was unnecessarily adding the upper triangle in the sparse case
- The test used an unnecessarily large model and stepping it leading to timeouts under ASAN

PiperOrigin-RevId: 798528736
Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
This commit is contained in:
Yuval Tassa
2025-08-23 03:56:02 -07:00
committed by Copybara-Service
parent a64a26c3ae
commit a230aa60c5
6 changed files with 20 additions and 22 deletions
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test/engine/engine_support_test.cc
+15 -17
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@@ -743,24 +743,24 @@ TEST_F(SupportTest, GetSetStateStepEqual) {
using InertiaTest = MujocoTest;
TEST_F(InertiaTest, DenseSameAsSparse) {
mjModel* m = LoadModelFromPath("humanoid/humanoid100.xml");
mjData* d = mj_makeData(m);
static const char* const kInertiaPath = "engine/testdata/inertia.xml";
TEST_F(InertiaTest, AddMdenseSameAsSparse) {
const std::string xml_path = GetTestDataFilePath(kInertiaPath);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
int nv = m->nv;
// force use of sparse matrices
m->opt.jacobian = mjJAC_SPARSE;
mjData* d = mj_makeData(m);
// warm-up rollout to get a typical state
while (d->time < 2) {
mj_step(m, d);
}
mj_step(m, d);
// dense zero matrix
vector<mjtNum> dst_sparse(nv * nv, 0.0);
// dense matrix, all values are 3.0
vector<mjtNum> dst_dense(nv * nv, 3.0);
// sparse zero matrix
vector<mjtNum> dst_dense(nv * nv, 0.0);
// sparse matrix, all values are 3.0
vector<mjtNum> dst_sparse(nv * nv, 3.0);
vector<int> rownnz(nv, nv);
vector<int> rowadr(nv, 0);
vector<int> colind(nv * nv, 0);
@@ -780,9 +780,9 @@ TEST_F(InertiaTest, DenseSameAsSparse) {
// dense addM
mj_addM(m, d, dst_dense.data(), nullptr, nullptr, nullptr);
// dense comparison, lower triangle should match
// dense comparison (lower triangle)
for (int i=0; i < nv; i++) {
for (int j=0; j < i; j++) {
for (int j=0; j < nv; j++) {
EXPECT_EQ(dst_dense[i*nv+j], dst_sparse[i*nv+j]);
}
}
@@ -792,8 +792,6 @@ TEST_F(InertiaTest, DenseSameAsSparse) {
mj_deleteModel(m);
}
static const char* const kInertiaPath = "engine/testdata/inertia.xml";
TEST_F(InertiaTest, mulM) {
const std::string xml_path = GetTestDataFilePath(kInertiaPath);
char error[1024];