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Compute sparse matrix sizes before making the mjModel in the compiler.

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PiperOrigin-RevId: 794998215
Change-Id: Ib7d0a2479b18cc8b3168c0656d3c4be0eff43a0f
This commit is contained in:
Yuval Tassa
2025-08-14 05:50:29 -07:00
committed by Copybara-Service
parent 0ba31e2c1f
commit f077fd00a9
3 changed files with 235 additions and 41 deletions
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test/xml/xml_native_reader_test.cc
+2 -2
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@@ -2192,7 +2192,7 @@ TEST_F(XMLReaderTest, ReadsSkinGroups) {
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_THAT(model, NotNull()) << error.data();
int flexid1 = mj_name2id(model, mjOBJ_FLEX, "B0");
int flexid2 = mj_name2id(model, mjOBJ_FLEX, "B1");
EXPECT_THAT(model->flex_group[flexid1], 2);
@@ -2842,7 +2842,7 @@ TEST_F(ActuatorParseTest, IntvelocityDefaultsPropagate) {
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 5);
EXPECT_DOUBLE_EQ(model->actuator_gainprm[mjNGAIN], 1);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 0], 0);