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Expose mju_sparse2dense to public API.

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PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
This commit is contained in:
Yuval Tassa
2024-10-23 09:00:33 -07:00
committed by Copybara-Service
parent b598d79b3f
commit e14aebfd16
9 changed files with 103 additions and 2 deletions
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python/mujoco/bindings_test.py
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@@ -1337,6 +1337,16 @@ Euler integrator, semi-implicit in velocity.
mat = np.array([[1., 2., 3.], [4., 5., 6.], [7., 8., 9.]])
self.assertEqual(mujoco.mju_mulVecMatVec(vec1, mat, vec2), 204.)
def test_mju_sparse_to_dense(self):
expected = np.array([[0., 1., 0.], [2., 0., 3.]])
mat = np.array((1., 2., 3.))
rownnz = np.array([1, 2])
rowadr = np.array([0, 1])
colind = np.array([1, 0, 2])
res = np.zeros((2, 3))
mujoco.mju_sparse2dense(res, mat, rownnz, rowadr, colind)
np.testing.assert_array_equal(res, expected)
def test_mju_euler_to_quat(self):
quat = np.zeros(4)
euler = np.array([0, np.pi/2, 0])