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Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.

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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
This commit is contained in:
Yuval Tassa
2025-05-13 10:19:22 -07:00
committed by Copybara-Service
parent 436b5a8e1f
commit 627fffdef9
18 changed files with 99 additions and 101 deletions
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mjx/mujoco/mjx/_src/io.py
+3 -3
View File
@@ -509,7 +509,7 @@ def _make_data_jax(
'actuator_moment': (m.nu, m.nv, float_),
'crb': (m.nbody, 10, float_),
'qM': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
'qLD': (m.nM, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
'qLD': (m.nC, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
'qLDiagInv': (m.nv, float_) if support.is_sparse(m) else (0, float_),
'ten_velocity': (m.ntendon, float_),
'actuator_velocity': (m.nu, float_),
@@ -618,8 +618,8 @@ def _make_data_c(
'flexedge_velocity': (nflexedge, float_),
'crb': (m.nbody, 10, float_),
'qM': (m.nM, float_),
'qLD': (m.nM, float_),
'qH': (m.nM, float_),
'qLD': (m.nC, float_),
'qH': (m.nC, float_),
'qHDiagInv': (m.nv, float_),
'qLDiagInv': (m.nv, float_),
'ten_velocity': (m.ntendon, float_),
mjx/mujoco/mjx/_src/smooth_test.py
+2 -2
View File
@@ -91,8 +91,8 @@ class SmoothTest(absltest.TestCase):
# factor_m
dx = jax.jit(mjx.factor_m)(mx, mjx.put_data(m, d))
qLDLegacy = np.zeros(mx.nM) # pylint:disable=invalid-name
for i in range(m.nM):
qLDLegacy[d.mapM2M[i]] = d.qLD[i]
for i in range(m.nC):
qLDLegacy[d.mapM2C[i]] = d.qLD[i]
_assert_eq(qLDLegacy, dx._impl.qLD, 'qLD')
_assert_attr_eq(d, dx._impl, 'qLDiagInv')
# com_vel