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Refactor mj_crb and mj_tendonArmature to use CSR M.

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PiperOrigin-RevId: 774077388
Change-Id: Id57118a5d66c074766f5c69fd3b889ebc625cbf7
This commit is contained in:
Yuval Tassa
2025-06-21 04:48:07 -07:00
committed by Copybara-Service
parent 14dc7c2a60
commit 2707eadc00
3 changed files with 45 additions and 35 deletions
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test/engine/engine_core_smooth_test.cc
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@@ -237,6 +237,7 @@ TEST_F(CoreSmoothTest, TendonArmature) {
// put only CRB inertia in M2
mj_crb(m, d);
mju_scatter(d->qM, d->M, d->mapM2M, m->nC);
vector<mjtNum> M2(nv*nv);
mj_fullM(m, M2.data(), d->qM);