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Remove mjData.qM

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PiperOrigin-RevId: 942520660
Change-Id: I422358e299ca0fcfe4c49cd0ee90c014a4c319d7
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Yuval Tassa
2026-07-04 09:38:07 -07:00
committed by Copybara-Service
parent 7c6f519879
commit 315bcfbf3a
16 changed files with 14 additions and 76 deletions
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doc/changelog.rst
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@@ -25,6 +25,8 @@ General
- Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the legacy ``mjData.qM``
for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from ``(nv x nM)`` to
``(nv x nC)``.
- Removed the legacy sparse ancestor-walk inertia matrix ``mjData.qM``. The joint-space inertia matrix is now stored
exclusively in the compressed sparse row (CSR) format ``mjData.M``.
Version 3.10.0 (June 22, 2026)
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