chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove dense code path for tendon Jacobian

Browse Source 
PiperOrigin-RevId: 872444531
Change-Id: I6180101abc49469a72aee8bec5726e1e94f142ec
This commit is contained in:
Taylor Howell
2026-02-19 09:53:11 -08:00
committed by Copybara-Service
parent 10524c28dd
commit 9efe41c0c1
11 changed files with 124 additions and 218 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_forward.c
+3 -7
View File
@@ -229,13 +229,9 @@ void mj_fwdVelocity(const mjModel* m, mjData* d) {
mju_mulMatVecSparse(d->flexedge_velocity, d->flexedge_J, d->qvel, m->nflexedge,
m->flexedge_J_rownnz, m->flexedge_J_rowadr, m->flexedge_J_colind, NULL);
// tendon velocity: dense or sparse
if (mj_isSparse(m)) {
mju_mulMatVecSparse(d->ten_velocity, d->ten_J, d->qvel, m->ntendon,
d->ten_J_rownnz, d->ten_J_rowadr, d->ten_J_colind, NULL);
} else {
mju_mulMatVec(d->ten_velocity, d->ten_J, d->qvel, m->ntendon, m->nv);
}
// tendon velocity: always sparse
mju_mulMatVecSparse(d->ten_velocity, d->ten_J, d->qvel, m->ntendon,
d->ten_J_rownnz, d->ten_J_rowadr, d->ten_J_colind, NULL);
// actuator velocity: always sparse
if (!mjDISABLED(mjDSBL_ACTUATION)) {