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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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include/mujoco/mujoco.h
+2 -2
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@@ -1483,10 +1483,10 @@ MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg
// DsDq: (nv x nsensordata)
// DsDv: (nv x nsensordata)
// DsDa: (nv x nsensordata)
// DmDq: (nv x nM)
// DmDq: (nv x nC)
// single-letter shortcuts:
// inputs: q=qpos, v=qvel, a=qacc
// outputs: f=qfrc_inverse, s=sensordata, m=qM
// outputs: f=qfrc_inverse, s=sensordata, m=M
// notes:
// optionally computes mass matrix Jacobian DmDq
// flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse