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Remove dense code path for tendon Jacobian

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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
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test/engine/engine_core_smooth_test.cc
+5 -9
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@@ -253,15 +253,11 @@ TEST_F(CoreSmoothTest, TendonArmature) {
// add tendon inertias to M2 using outer product
for (int j=0; j < m->ntendon; j++) {
// get tendon Jacobian
if (mj_isSparse(m)) {
int rowadr = d->ten_J_rowadr[j];
int* rownnz = d->ten_J_rownnz + j;
int zero = 0;
mju_sparse2dense(ten_J.data(), d->ten_J + rowadr, 1, nv,
rownnz, &zero, d->ten_J_colind + rowadr);
} else {
mju_copy(ten_J.data(), d->ten_J + j*nv, nv);
}
int rowadr = d->ten_J_rowadr[j];
int* rownnz = d->ten_J_rownnz + j;
int zero = 0;
mju_sparse2dense(ten_J.data(), d->ten_J + rowadr, 1, nv,
rownnz, &zero, d->ten_J_colind + rowadr);
// get tendon inertia only, using outer product
mju_mulMatMat(ten_M.data(), ten_J.data(), ten_J.data(), nv, 1, nv);