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_setconst.c
+1 -10
View File
@@ -756,16 +756,7 @@ static void set0(mjModel* m, mjData* d) {
// compute tendon_invweight0
for (int i=0; i < m->ntendon; i++) {
// make dense vector into tmp
if (mj_isSparse(m)) {
mju_zero(tmp, nv);
int end = d->ten_J_rowadr[i] + d->ten_J_rownnz[i];
for (int j=d->ten_J_rowadr[i]; j < end; j++) {
tmp[d->ten_J_colind[j]] = d->ten_J[j];
}
} else {
mju_copy(tmp, d->ten_J+i*nv, nv);
}
mju_sparse2dense(tmp, d->ten_J, 1, nv, d->ten_J_rownnz+i, d->ten_J_rowadr+i, d->ten_J_colind);
// solve into tmp+nv
mj_solveM(m, d, tmp+nv, tmp, 1);