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

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PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
This commit is contained in:
Yuval Tassa
2026-06-02 17:22:15 -07:00
committed by Copybara-Service
parent 49211a05c5
commit 7b9b88060e
15 changed files with 49 additions and 63 deletions
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python/mujoco/functions.cc
+3 -6
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@@ -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,