chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mjData.M, not yet used.

Browse Source 
PiperOrigin-RevId: 758351796
Change-Id: I0786966b2f2c2e699db845cda6940a8821b23f49
This commit is contained in:
Yuval Tassa
2025-05-13 13:27:01 -07:00
committed by Copybara-Service
parent 1e02d66c3d
commit 79c74d7eae
7 changed files with 16 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/mujoco/mjx/_src/io.py
+2
View File
@@ -509,6 +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_),
'M': (m.nC, 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_),
@@ -618,6 +619,7 @@ def _make_data_c(
'flexedge_velocity': (nflexedge, float_),
'crb': (m.nbody, 10, float_),
'qM': (m.nM, float_),
'M': (m.nC, float_),
'qLD': (m.nC, float_),
'qH': (m.nC, float_),
'qHDiagInv': (m.nv, float_),
mjx/mujoco/mjx/_src/types.py
+2
View File
@@ -970,6 +970,7 @@ class DataC(PyTreeNode):
actuator_moment: jax.Array
crb: jax.Array
qM: jax.Array # pylint:disable=invalid-name
M: jax.Array # pylint:disable=invalid-name
qLD: jax.Array # pylint:disable=invalid-name
qLDiagInv: jax.Array # pylint:disable=invalid-name
bvh_aabb_dyn: jax.Array
@@ -1037,6 +1038,7 @@ class DataJAX(PyTreeNode):
actuator_moment: jax.Array
crb: jax.Array
qM: jax.Array # pylint:disable=invalid-name
M: jax.Array # pylint:disable=invalid-name
qLD: jax.Array # pylint:disable=invalid-name
qLDiagInv: jax.Array # pylint:disable=invalid-name
ten_velocity: jax.Array