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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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wasm/codegen/generated/bindings.cc
+1 -1
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@@ -2057,7 +2057,7 @@ void mjd_inverseFD_wrapper(const MjModel& m, MjData& d, mjtNum eps, mjtBool flg_
CHECK_SIZE(DsDq, m.nv() * m.nsensordata());
CHECK_SIZE(DsDv, m.nv() * m.nsensordata());
CHECK_SIZE(DsDa, m.nv() * m.nsensordata());
CHECK_SIZE(DmDq, m.nv() * m.nM());
CHECK_SIZE(DmDq, m.nv() * m.nC());
mjd_inverseFD(m.get(), d.get(), eps, flg_actuation, DfDq_.data(), DfDv_.data(), DfDa_.data(), DsDq_.data(), DsDv_.data(), DsDa_.data(), DmDq_.data());
}
wasm/codegen/generators/constants.py
+1 -1
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@@ -660,7 +660,7 @@ FUNCTION_BOUNDS_CHECKS: Dict[str, str] = {
CHECK_SIZE(DsDq, m.nv() * m.nsensordata());
CHECK_SIZE(DsDv, m.nv() * m.nsensordata());
CHECK_SIZE(DsDa, m.nv() * m.nsensordata());
CHECK_SIZE(DmDq, m.nv() * m.nM());
CHECK_SIZE(DmDq, m.nv() * m.nC());
""".strip(),
"mjd_subQuat": """
CHECK_SIZE(qa, 4);
wasm/tests/bindings_test.ts
+2 -2
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@@ -1305,7 +1305,7 @@ describe('MuJoCo WASM Bindings', () => {
const nv = model!.nv;
const nsensordata = model!.nsensordata;
const nM = model!.nM;
const nC = model!.nC;
const dfDq = new mujoco.DoubleBuffer(nv * nv);
const dfDv = new mujoco.DoubleBuffer(nv * nv);
@@ -1313,7 +1313,7 @@ describe('MuJoCo WASM Bindings', () => {
const dsDq = new mujoco.DoubleBuffer(nv * nsensordata);
const dsDv = new mujoco.DoubleBuffer(nv * nsensordata);
const dsDa = new mujoco.DoubleBuffer(nv * nsensordata);
const dmDq = new mujoco.DoubleBuffer(nv * nM);
const dmDq = new mujoco.DoubleBuffer(nv * nC);
try {
mujoco.mjd_inverseFD(