Erik Frey 0a7be1732c Adds support for explicit dense/sparse mass matrices to MJX. ...

This increases performance, particularly for the Newton solver on TPU.

PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff

2024-01-23 00:32:07 -08:00

..

mjx

Adds support for explicit dense/sparse mass matrices to MJX.

2024-01-23 00:32:07 -08:00