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Yuval Tassa 60b5cac066 Switch MJX DataJAX from legacy qM format to CSR M format 
Switch MJX DataJAX to use the CSR-format `M` as its primary sparse inertia representation, matching MuJoCo C `mjData.M`. This allows both `mjData.qM` and `mjModel.mapM2M` to be deleted in the future.

PiperOrigin-RevId: 932433465
Change-Id: I194ffbfdba0cdd9c718277ee0d5de7ac20f2b06f
2026-06-15 06:52:45 -07:00
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mjx
Switch MJX DataJAX from legacy qM format to CSR M format
2026-06-15 06:52:45 -07:00