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Add mju_sym2dense, document future breakage of mj_fullM

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PiperOrigin-RevId: 910242375
Change-Id: Ibfbdef9cfb66088723499ea257da09aee0d80938
This commit is contained in:
Yuval Tassa
2026-05-04 14:25:23 -07:00
committed by Copybara-Service
parent a51a7bf062
commit 767c607f58
19 changed files with 191 additions and 12 deletions
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mjx/mujoco/mjx/_src/support_test.py
+1 -1
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@@ -64,7 +64,7 @@ class SupportTest(parameterized.TestCase):
dx = mjx.put_data(m, d)
mjx_full_m = jax.jit(support.full_m)(mx, dx)
mj_full_m = np.zeros((m.nv, m.nv), dtype=np.float64)
mujoco.mj_fullM(m, mj_full_m, d.qM)
mujoco.mju_sym2dense(mj_full_m, d.M, m.M_rownnz, m.M_rowadr, m.M_colind)
np.testing.assert_allclose(mjx_full_m, mj_full_m, atol=5e-5, rtol=5e-5)
@parameterized.parameters('constraints.xml', 'pendula.xml')