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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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python/mujoco/bindings_test.py
+1 -1
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@@ -1508,7 +1508,7 @@ Euler integrator, semi-implicit in velocity.
ds_dq = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
ds_dv = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
ds_da = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
dm_dq = np.zeros((self.model.nv, self.model.nM), dtype=DTYPE)
dm_dq = np.zeros((self.model.nv, self.model.nC), dtype=DTYPE)
mujoco.mjd_inverseFD(
self.model,
self.data,