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Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.

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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
This commit is contained in:
Yuval Tassa
2024-10-14 09:06:14 -07:00
committed by Copybara-Service
parent 7ec94f46d4
commit ee7b994021
10 changed files with 4 additions and 98 deletions
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python/mujoco/bindings_test.py
+3 -3
View File
@@ -1362,7 +1362,7 @@ Euler integrator, semi-implicit in velocity.
def test_pickle_mjdata_clean(self):
data2 = pickle.loads(pickle.dumps(self.data))
attr_to_compare = ('time', 'qpos', 'qvel', 'mocap_pos', 'L')
attr_to_compare = ('time', 'qpos', 'qvel', 'mocap_pos')
self._assert_attributes_equal(data2, self.data, attr_to_compare)
def test_pickle_mjdata(self):
@@ -1370,7 +1370,7 @@ 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', 'contact', 'efc_J', 'L'
'warning', 'energy', 'contact', 'efc_J'
)
self._assert_attributes_equal(data2, self.data, attr_to_compare)
for _ in range(10):
@@ -1384,7 +1384,7 @@ 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', 'contact', 'efc_J', 'L'
'warning', 'energy', 'contact', 'efc_J'
)
self._assert_attributes_equal(data2, self.data, attr_to_compare)
for _ in range(10):
python/mujoco/structs.cc
-14
View File
@@ -748,7 +748,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
X(ne);
X(nf);
X(nnzJ);
X(nnzL);
X(nefc);
X(nisland);
X(time);
@@ -764,9 +763,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
MJDATA_POINTERS
#undef X
bool is_sparse_newton = this->model_->get()->opt.solver == mjSOL_NEWTON &&
mj_isSparse(this->model_->get());
#undef MJ_M
#define MJ_M(x) this->model_->get()->x
#undef MJ_D
@@ -779,9 +775,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_SOLVER
if (is_sparse_newton) {
MJDATA_ARENA_POINTERS_NEWTON
}
if (mj_isDual(this->model_->get())) {
MJDATA_ARENA_POINTERS_DUAL
}
@@ -811,8 +804,6 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
bool is_dual = mj_isDual(&m);
bool is_sparse_newton = m.opt.solver == mjSOL_NEWTON && mj_isSparse(&m);
raw::MjData* d = mj_makeData(&m);
if (!d) {
throw py::value_error("Failed to create mjData.");
@@ -834,7 +825,6 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
X(ne);
X(nf);
X(nnzJ);
X(nnzL);
X(nefc);
X(nisland);
X(time);
@@ -873,9 +863,6 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_SOLVER
if (is_sparse_newton) {
MJDATA_ARENA_POINTERS_NEWTON
}
if (is_dual) {
MJDATA_ARENA_POINTERS_DUAL
}
@@ -2035,7 +2022,6 @@ This is useful for example when the MJB is not available as a file on disk.)"));
});
MJDATA_ARENA_POINTERS_SOLVER
MJDATA_ARENA_POINTERS_NEWTON
MJDATA_ARENA_POINTERS_DUAL
MJDATA_ARENA_POINTERS_ISLAND