Sparse ten_J and ten_J_colind memory

PiperOrigin-RevId: 868834376 Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
2026-02-11 14:04:45 -08:00
parent b466829482
commit 336e1026a4
21 changed files with 43 additions and 118 deletions
@@ -725,6 +725,7 @@ TEST_F(ForwardTest, NormalizeQuats) {
  mj_step(model, data_n);

  // expect everything to match
+  MJDATA_POINTERS_PREAMBLE(model)
  #define X(type, name, nr, nc)                                 \
    for (int i = 0; i < model->nr; i++)                         \
      for (int j = 0; j < nc; j++)                              \