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Expose mj_makeM as a sub-component.

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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
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doc/changelog.rst
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@@ -14,6 +14,9 @@ General
- Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
:ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
types.
- Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the
introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
Simulate
^^^^^^^^