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Add some arena-allocated attributes to compare in mjData pickle/unpickle test.

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PiperOrigin-RevId: 684025320
Change-Id: Ic3282eaae74e43a33c2ed5f1b25ad38884487829
This commit is contained in:
Yuval Tassa
2024-10-09 07:14:02 -07:00
committed by Copybara-Service
parent 395129bbd3
commit b1941708dd
1 changed files with 15 additions and 1 deletions
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python/mujoco/bindings_test.py
+15 -1
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@@ -1365,7 +1365,21 @@ 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'
'warning', 'energy', 'contact', 'efc_J'
)
self._assert_attributes_equal(data2, self.data, attr_to_compare)
for _ in range(10):
mujoco.mj_step(self.model, self.data)
mujoco.mj_step(self.model, data2)
self._assert_attributes_equal(data2, self.data, attr_to_compare)
def test_pickle_mjdata_sparse(self):
self.model.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
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'
)
self._assert_attributes_equal(data2, self.data, attr_to_compare)
for _ in range(10):