chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Expose mj_makeM as a sub-component.

Browse Source 
PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
This commit is contained in:
Yuval Tassa
2025-05-27 00:33:27 -07:00
committed by Copybara-Service
parent 4a102c37bc
commit 89e39dc0a7
12 changed files with 58 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/APIreference/functions_override.rst
+8 -2
View File
@@ -113,8 +113,14 @@ Integrates the simulation state using an implicit-in-velocity integrator (either
.. _Subcomponents:
These are sub-components of the simulation pipeline, called internally from the components above. It is very unlikely
that the user will need to call them.
These are sub-components of the simulation pipeline, called internally from the components above.
.. _mj_makeM:
Compute the composite rigid body inertia with :ref:`mj_crb`, add terms due
to :ref:`tendon armature<tendon-spatial-armature>`. The joint-space inertia matrix is stored in both ``mjData.qM`` and
``mjData.M``. These arrays represent the same quantity using different layouts (parent-based and compressed sparse row,
respectively).
.. _mj_factorM: