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Use mjData.M where appropriate

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PiperOrigin-RevId: 758374391
Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
This commit is contained in:
Yuval Tassa
2025-05-13 14:21:41 -07:00
committed by Copybara-Service
parent 79c74d7eae
commit 4186589738
5 changed files with 23 additions and 42 deletions
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src/engine/engine_print.c
+2 -2
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@@ -1123,9 +1123,9 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printSparse("ACTUATOR_MOMENT", d->actuator_moment, m->nu, d->moment_rownnz,
d->moment_rowadr, d->moment_colind, fp, float_format);
printArray("CRB", m->nbody, 10, d->crb, fp, float_format);
printInertia("QM", d->qM, m, fp, float_format);
printSparse("M", d->M, m->nv, d->C_rownnz,
d->C_rowadr, d->C_colind, fp, float_format);
printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
d->C_rowadr, d->C_colind, fp, float_format);
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);