Remove mjData.qM

PiperOrigin-RevId: 942520660
Change-Id: I422358e299ca0fcfe4c49cd0ee90c014a4c319d7

mjx/mujoco/mjx/_src/io.py

@@ -1297,12 +1297,11 @@ def _get_data_into_warp(
         value = value.reshape((-1, 9))
       # elif field.name == 'efc_J':  # TODO(btaba): add this back
       # elif field.name.startswith('efc_'):  # TODO(btaba): add this back
-      # TODO(btaba): qM, qLD, qLDiagInv
+      # TODO(btaba): qLD, qLDiagInv
 
       if field.name in (
           'actuator_moment',
           'contact',
-          'qM',
           'qLD',
           'qLU',
           'qLDiagInv',
@@ -1472,10 +1471,6 @@ def _get_data_into(
       else:
         setattr(result_i, field.name, value)
 
-    if hasattr(result_i, 'qM'):
-      result_i.qM.fill(0.0)
-      result_i.qM[m.mapM2M] = result_i.M
-
     # recalculate qLD and qLDiagInv as MJX and MuJoCo have different
     # representations of the Cholesky decomposition.
     mujoco.mj_factorM(m, result_i)

mjx/mujoco/mjx/_src/io_test.py

@@ -671,7 +671,6 @@ class DataIOTest(parameterized.TestCase):
     np.testing.assert_allclose(d_2.xpos, d.xpos)
     np.testing.assert_allclose(d_2.cvel, d.cvel)
     np.testing.assert_allclose(d_2.cdof_dot, d.cdof_dot)
-    np.testing.assert_allclose(d_2.qM, d.qM)
     np.testing.assert_allclose(d_2.qLD, d.qLD, atol=1e-6)
     np.testing.assert_allclose(d_2.qLDiagInv, d.qLDiagInv, atol=1e-6)
 
@@ -782,7 +781,6 @@ class DataIOTest(parameterized.TestCase):
     # check a few fields
     np.testing.assert_allclose(d_2.qpos, d.qpos)
     np.testing.assert_allclose(d_2.xpos, d.xpos)
-    np.testing.assert_allclose(d_2.qM, d.qM)
 
     # only 1 contact active
     self.assertEqual(d_2.contact.dist.shape, (1,))