Refactor mj_fullM. This change is part of the deprecation of mjData.qM.

PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a

python/mujoco/functions.cc

@@ -591,15 +591,12 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mj_id2name>(pymodule);
   Def<traits::mj_fullM>(
       pymodule,
-      [](const raw::MjModel* m, Eigen::Ref<EigenArrayXX> dst,
-         Eigen::Ref<const EigenVectorX> M) {
-        if (M.size() != m->nM) {
-          throw py::type_error("M should be of size nM");
-        }
+      [](const raw::MjModel* m, const raw::MjData* d,
+         Eigen::Ref<EigenArrayXX> dst) {
         if (dst.cols() != m->nv || dst.rows() != m->nv) {
           throw py::type_error("dst should be of shape (nv, nv)");
         }
-        return ::mj_fullM(m, dst.data(), M.data());
+        return ::mj_fullM(m, d, dst.data());
       });
   Def<traits::mj_mulM>(
       pymodule,

python/mujoco/introspect/functions.py

@@ -3478,20 +3478,20 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                      inner_type=ValueType(name='mjModel', is_const=True),
                  ),
              ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
              FunctionParameterDecl(
                  name='dst',
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
              ),
-             FunctionParameterDecl(
-                 name='M',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
          ),
-         doc='Convert sparse inertia matrix M into full (i.e. dense) matrix.',
+         doc='Convert sparse inertia matrix into full (i.e. dense) matrix.',
      )),
     ('mj_mulM',
      FunctionDecl(