Alessio Quaglino 643c1248b8 Skip flex edge Jacobian if not needed. ...

When equality constraints and built-in passive forces are not present, edge Jacobians are unused. This gives a 3x speedup in `mj_kinematics` in `floppy_flex` (from 0.2ms/step to 0.06ms/step).

Changed the default options of `floppy_flex` to match those of `floppy` for a fair comparison.

PiperOrigin-RevId: 575850622
Change-Id: I4c618536fd17ef930153bbd1f1da7d9e0e44abbe

2023-10-23 10:02:00 -07:00

..

elasticity

Skip flex edge Jacobian if not needed.

2023-10-23 10:02:00 -07:00

sdf

Add [SdfLib](https://github.com/UPC-ViRVIG/SdfLib) plugin to first-party SDFs.

2023-09-14 06:42:42 -07:00

sensor

Added elasticity and sensor subfolders in model/plugin.

2023-08-21 04:48:45 -07:00