Sparse ten_J and ten_J_colind memory

PiperOrigin-RevId: 868800229 Change-Id: Id83f9fd40dd9bece06fd99753e4202eea17ca884
2026-02-11 12:44:56 -08:00
parent 94e834bf4f
commit d011285380
21 changed files with 118 additions and 43 deletions
@@ -725,7 +725,6 @@ TEST_F(ForwardTest, NormalizeQuats) {
  mj_step(model, data_n);

  // expect everything to match
-  MJDATA_POINTERS_PREAMBLE(model)
  #define X(type, name, nr, nc)                                 \
    for (int i = 0; i < model->nr; i++)                         \
      for (int j = 0; j < nc; j++)                              \