Implement sleeping in engine

PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
2025-11-07 03:32:03 -08:00
parent 1e0226d360
commit 769f37b653
55 changed files with 3602 additions and 677 deletions
@@ -64,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
        mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
      } else {
        mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                   m->M_rownnz, m->M_rowadr, m->M_colind);
+                   m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
      }
    }
  }