Fix sparse matmul logic in addJTBJSparse.

Also rename arguments and loop variables in `addJTBJSparse` for additional clarity. PiperOrigin-RevId: 534908360 Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
2023-05-24 11:01:58 -07:00
parent d82465d710
commit 55c7f45dc5
2 changed files with 23 additions and 18 deletions
@@ -17,6 +17,9 @@ Bug fixes
  invalid. In such case, now MuJoCo only accepts a non-watertight geometry if :ref:`shellinertia<body-geom-shellinertia>`
  is equal to ``true``.

+- Fixed the sparse Jacobian multiplication logic that is used to compute derivatives for tendon damping and fluid force,
+  which affects the behaviour of the :ref:`implicit and implicitfast integrators<geIntegration>`.
+
 Plugins
 ^^^^^^^