- [x] `efc_J` #934 - [x] `ten_J` #1119 - [x] `actuator_moment` #946 - [x] `flexedge_J` #931 --- This is a pretty hard feature and may need to be broken down into subtasks. We may need to study how to do efficient batched sparse matmul in Warp. We might want to start off with a feasibility study to make sure Sparse is fast enough on GPU to be worth the extra complexity of supporting it.
efc_Jsparseefc_J#934ten_Jsparseten_J#1119actuator_momentsparseactuator_moment#946flexedge_Jsparseflexedge_J#931This is a pretty hard feature and may need to be broken down into subtasks.
We may need to study how to do efficient batched sparse matmul in Warp.
We might want to start off with a feasibility study to make sure Sparse is fast enough on GPU to be worth the extra complexity of supporting it.