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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/functions.cc
+2 -2
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@@ -1640,8 +1640,8 @@ PYBIND11_MODULE(_functions, pymodule, pybind11::mod_gil_not_used()) {
throw py::type_error("DsDa should be of shape (nv, nsensordata)");
}
if (DmDq.has_value() &&
(DmDq->rows() != m->nv || DmDq->cols() != m->nM)) {
throw py::type_error("DmDq should be of shape (nv, nM)");
(DmDq->rows() != m->nv || DmDq->cols() != m->nC)) {
throw py::type_error("DmDq should be of shape (nv, nC)");
}
return InterceptMjErrors(::mjd_inverseFD)(
m, d, eps, flg_actuation,