 Yuval Tassa
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769f37b653
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Implement sleeping in engine
PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
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2025-11-07 03:33:07 -08:00 |
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Yuval Tassa
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977f94e9df
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Delete sparsity structures from mjData, use the ones in mjModel
PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
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2025-08-14 09:13:02 -07:00 |
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Yuval Tassa
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d8bebdc675
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Remove unnecessary diagnum argument in mj_solveLD and mj_factorI
PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
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2025-05-14 07:13:27 -07:00 |
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Yuval Tassa
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dd28b887d4
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Rename C sparse structure to M in mjdata, improve docstrings.
PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
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2025-05-14 05:26:19 -07:00 |
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Yuval Tassa
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627fffdef9
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Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.
PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
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2025-05-13 10:20:32 -07:00 |
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Yuval Tassa
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c2ac0d724e
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Add mju_gather and mju_scatter, private engine functions.
PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
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2025-04-22 10:33:33 -07:00 |
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Yuval Tassa
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0f563ecf31
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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.
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
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2025-03-04 17:34:35 -08:00 |
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Yuval Tassa
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b516edae1b
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Rename inertia factorization routines:
```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```
PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
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2025-02-18 09:42:05 -08:00 |
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Yuval Tassa
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fb07e0d1f7
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Convert qLD to CSR format.
PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
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2025-02-18 07:14:45 -08:00 |
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Yuval Tassa
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5ee0654830
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Roll back recent change to mjData.qLD until some issues are resolved.
PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
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2025-02-07 10:21:42 -08:00 |
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Yuval Tassa
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c27d3758c2
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Convert qLD to CSR format.
PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
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2025-02-06 08:59:35 -08:00 |
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Yuval Tassa
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ac11e5faa6
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Add CSR implementation of mj_factorI
PiperOrigin-RevId: 712498431
Change-Id: I13b52e53482ed97da8788875d4d95e2beb5ca7c1
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2025-01-06 05:48:14 -08:00 |
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