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Use sparse (uncompressed) actuator_moment in mj_transmission.

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PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
This commit is contained in:
Taylor Howell
2024-11-01 08:05:14 -07:00
committed by Copybara-Service
parent 1d58576d28
commit a51f346059
13 changed files with 230 additions and 81 deletions
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src/engine/engine_print.c
+6 -3
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@@ -93,7 +93,7 @@ static void printSparse(const char* str, const mjtNum* mat, int nr,
const int* rownnz, const int* rowadr,
const int* colind, FILE* fp, const char* float_format) {
// if no data, or too many rows to be visually useful, return
if (!mat || nr > 300) {
if (!mat || !nr || nr > 300) {
return;
}
fprintf(fp, "%s\n", str);
@@ -147,7 +147,7 @@ static void printSparsity(const char* str, int nr, int nc,
// print vector
static void printVector(const char* str, const mjtNum* data, int n, FILE* fp,
const char* float_format) {
if (!data) {
if (!data || !n) {
return;
}
// print str
@@ -1005,7 +1005,10 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
}
printArray("ACTUATOR_LENGTH", m->nu, 1, d->actuator_length, fp, float_format);
printArray("ACTUATOR_MOMENT", m->nu, m->nv, d->actuator_moment, fp, float_format);
printSparsity("actuator_moments", m->nu, m->nv,
d->moment_rowadr, d->moment_rownnz, d->moment_colind, fp);
printSparse("ACTUATOR_MOMENT", d->actuator_moment, m->nu, d->moment_rownnz,
d->moment_rowadr, d->moment_colind, fp, float_format);
printArray("CRB", m->nbody, 10, d->crb, fp, float_format);
if (M) {