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Migrate mjd_inverseFD mass Jacobian from qM to M

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PiperOrigin-RevId: 942268237
Change-Id: I0ecfe161867ce9930cd6366d778077df2cd3197f
This commit is contained in:
Yuval Tassa
2026-07-03 15:35:16 -07:00
committed by Copybara-Service
parent 4b345457a8
commit 7e9ac58ff9
12 changed files with 24 additions and 21 deletions
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doc/APIreference/functions.rst
+1 -1
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@@ -3198,7 +3198,7 @@ using finite-differencing. These matrices and their dimensions are:
``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata``
``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata``
``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata``
``DmDq``, :math:`\partial M / \partial q`, ``nv x nM``
``DmDq``, :math:`\partial M / \partial q`, ``nv x nC``
- All outputs are optional (can be NULL).
- All outputs are transposed relative to Control Theory convention (i.e., column major).
doc/APIreference/functions_override.rst
+1 -1
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@@ -874,7 +874,7 @@ using finite-differencing. These matrices and their dimensions are:
``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata``
``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata``
``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata``
``DmDq``, :math:`\partial M / \partial q`, ``nv x nM``
``DmDq``, :math:`\partial M / \partial q`, ``nv x nC``
- All outputs are optional (can be NULL).
- All outputs are transposed relative to Control Theory convention (i.e., column major).
doc/changelog.rst
+3
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@@ -22,6 +22,9 @@ General
:class: attention
- Return type of :ref:`mj_encode` and the :ref:`mjfEncode` callback changed from ``int`` to ``mjtSize`` (64-bit).
- Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the legacy ``mjData.qM``
for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from ``(nv x nM)`` to
``(nv x nC)``.
Version 3.10.0 (June 22, 2026)
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