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Add Jdot correction for connect and weld constaints

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Measured reduction in constraint violations before/after this change:

| Model | Correction ON (Avg Viol) | Correction OFF (Avg Viol) | Reduction |
| :--- | :--- | :--- | :--- |
| `jdotv_connect_2d.xml` | 3.959e-4 | 1.699e-3 | **76.7%** |
| `jdotv_connect_3d.xml` | 1.399e-3 | 5.493e-3 | **74.5%** |
| `jdotv_weld_3d.xml` | 9.472e-3 | 1.148e-2 | **17.5%** |

PiperOrigin-RevId: 899137525
Change-Id: Ic3e33764ebd64239bab916289c23d80c3da0b51b
This commit is contained in:
Yuval Tassa
2026-04-13 12:47:17 -07:00
committed by Copybara-Service
parent 0c337799bd
commit 412cee2059
13 changed files with 481 additions and 43 deletions
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src/engine/engine_util_sparse.h
+5
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@@ -32,6 +32,11 @@ extern "C" {
MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const int* ind1, int nnz1,
const mjtNum* vec2, const int* ind2, int nnz2);
// dot-productX3, first vector is sparse; supernode of size 3
void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
const mjtNum* vec10, const mjtNum* vec11, const mjtNum* vec12,
const mjtNum* vec2, int nnz1, const int* ind1);
// convert matrix from dense to sparse
// nnz is size of res and colind, return 1 if too small, 0 otherwise
MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,