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Roll back recent change to mjData.qLD until some issues are resolved.

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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
This commit is contained in:
Yuval Tassa
2025-02-07 10:20:41 -08:00
committed by Copybara-Service
parent 06758e35ab
commit 5ee0654830
22 changed files with 153 additions and 151 deletions
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doc/APIreference/functions.rst
+1 -2
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@@ -423,8 +423,7 @@ Get name of object with the specified mjtObj type and id, returns NULL if name n
.. mujoco-include:: mj_fullM
Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same size as ``mjData.qM``.
Convert sparse inertia matrix M into full (i.e. dense) matrix.
.. _mj_mulM:
doc/APIreference/functions_override.rst
-5
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@@ -233,11 +233,6 @@ found, the function will return ``distmax`` and ``fromto``, if given, will be se
In order to determine whether a geom pair uses ``mjc_Convex``, inspect the table at the top of
`engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.
.. _mj_fullM:
Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same size as ``mjData.qM``.
.. _mj_mulM:
This function multiplies the joint-space inertia matrix stored in mjData.qM by a vector. qM has a custom sparse format