7c6f519879
Remove legacy factorI/solveLD and clean up benchmarks/tests
...
Deletes mj_factorI_legacy and mj_solveLD_legacy from the engine and headers.
Updates factorI, solveLD, and inertia benchmarks to remove legacy targets
and only benchmark CSR.
Rewrites engine_core_smooth_test to verify CSR solver against mj_mulM
instead of legacy solver.
PiperOrigin-RevId: 942507341
Change-Id: I4281decb7018cfa3e46cb446efd5fe1179f6ae1f
2026-07-04 08:34:30 -07:00
769f37b653
Implement sleeping in engine
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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
2025-11-07 03:33:07 -08:00
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -07:00
d8bebdc675
Remove unnecessary diagnum argument in mj_solveLD and mj_factorI
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PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
2025-05-14 07:13:27 -07:00
dd28b887d4
Rename C sparse structure to M in mjdata, improve docstrings.
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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
2025-05-14 05:26:19 -07:00
627fffdef9
Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.
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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
2025-05-13 10:20:32 -07:00
c2ac0d724e
Add mju_gather and mju_scatter, private engine functions.
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PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
2025-04-22 10:33:33 -07:00
0f563ecf31
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:34:35 -08:00
b516edae1b
Rename inertia factorization routines:
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```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```
PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
2025-02-18 09:42:05 -08:00
fb07e0d1f7
Convert qLD to CSR format.
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PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
2025-02-18 07:14:45 -08:00
5ee0654830
Roll back recent change to mjData.qLD until some issues are resolved.
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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
2025-02-07 10:21:42 -08:00
c27d3758c2
Convert qLD to CSR format.
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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:59:35 -08:00
ac11e5faa6
Add CSR implementation of mj_factorI
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PiperOrigin-RevId: 712498431
Change-Id: I13b52e53482ed97da8788875d4d95e2beb5ca7c1
2025-01-06 05:48:14 -08:00
Yuval Tassa