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Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices.

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PiperOrigin-RevId: 669087189
Change-Id: I39e97264a192a621e67ae5e079334fc8be38a25d
This commit is contained in:
Erik Frey
2024-08-29 15:39:09 -07:00
committed by Copybara-Service
parent 9cab5a42a4
commit 494e166f28
3 changed files with 10 additions and 1 deletions
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doc/changelog.rst
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@@ -42,6 +42,7 @@ MJX
- Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
- Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
:doc:`fluid drag <computation/fluid>`.
- Fixed a bug where ``qLDiagInv`` had the wrong size for sparse mass matrices.
Bug fixes
^^^^^^^^^