Migrate mjd_inverseFD mass Jacobian from qM to M

PiperOrigin-RevId: 942268237
Change-Id: I0ecfe161867ce9930cd6366d778077df2cd3197f

Author: yuvaltassa

doc/APIreference/functions.rst

@@ -3198,7 +3198,7 @@ using finite-differencing. These matrices and their dimensions are:
    ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata``
    ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata``
    ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata``
-   ``DmDq``, :math:`\partial M / \partial q`, ``nv x nM``
+   ``DmDq``, :math:`\partial M / \partial q`, ``nv x nC``
 
 - All outputs are optional (can be NULL).
 - All outputs are transposed relative to Control Theory convention (i.e., column major).

doc/APIreference/functions_override.rst

@@ -874,7 +874,7 @@ using finite-differencing. These matrices and their dimensions are:
    ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata``
    ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata``
    ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata``
-   ``DmDq``, :math:`\partial M / \partial q`, ``nv x nM``
+   ``DmDq``, :math:`\partial M / \partial q`, ``nv x nC``
 
 - All outputs are optional (can be NULL).
 - All outputs are transposed relative to Control Theory convention (i.e., column major).

doc/changelog.rst

@@ -22,6 +22,9 @@ General
    :class: attention
 
    - Return type of :ref:`mj_encode` and the :ref:`mjfEncode` callback changed from ``int`` to ``mjtSize`` (64-bit).
+   - Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the legacy ``mjData.qM``
+     for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from ``(nv x nM)`` to
+     ``(nv x nC)``.
 
 Version 3.10.0 (June 22, 2026)
 ------------------------------

include/mujoco/mujoco.h

@@ -1483,10 +1483,10 @@ MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg
 //     DsDq: (nv x nsensordata)
 //     DsDv: (nv x nsensordata)
 //     DsDa: (nv x nsensordata)
-//     DmDq: (nv x nM)
+//     DmDq: (nv x nC)
 //   single-letter shortcuts:
 //     inputs: q=qpos, v=qvel, a=qacc
-//     outputs: f=qfrc_inverse, s=sensordata, m=qM
+//     outputs: f=qfrc_inverse, s=sensordata, m=M
 //   notes:
 //     optionally computes mass matrix Jacobian DmDq
 //     flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse

python/mujoco/bindings_test.py

@@ -1508,7 +1508,7 @@ def test_inverse_fd(self):
     ds_dq = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
     ds_dv = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
     ds_da = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
-    dm_dq = np.zeros((self.model.nv, self.model.nM), dtype=DTYPE)
+    dm_dq = np.zeros((self.model.nv, self.model.nC), dtype=DTYPE)
     mujoco.mjd_inverseFD(
         self.model,
         self.data,

python/mujoco/functions.cc

@@ -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,

python/mujoco/introspect/functions.py

@@ -9533,7 +9533,7 @@
                  nullable=True,
              ),
          ),
-         doc='Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)   All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention):     DfDq: (nv x nv)     DfDv: (nv x nv)     DfDa: (nv x nv)     DsDq: (nv x nsensordata)     DsDv: (nv x nsensordata)     DsDa: (nv x nsensordata)     DmDq: (nv x nM)   single-letter shortcuts:     inputs: q=qpos, v=qvel, a=qacc     outputs: f=qfrc_inverse, s=sensordata, m=qM   notes:     optionally computes mass matrix Jacobian DmDq     flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse',  # pylint: disable=line-too-long
+         doc='Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)   All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention):     DfDq: (nv x nv)     DfDv: (nv x nv)     DfDa: (nv x nv)     DsDq: (nv x nsensordata)     DsDv: (nv x nsensordata)     DsDa: (nv x nsensordata)     DmDq: (nv x nC)   single-letter shortcuts:     inputs: q=qpos, v=qvel, a=qacc     outputs: f=qfrc_inverse, s=sensordata, m=M   notes:     optionally computes mass matrix Jacobian DmDq     flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse',  # pylint: disable=line-too-long
      )),
     ('mjd_subQuat',
      FunctionDecl(

src/engine/engine_derivative_fd.c

@@ -598,18 +598,18 @@ void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_cente
 //     DsDq: (nv x nsensordata)
 //     DsDv: (nv x nsensordata)
 //     DsDa: (nv x nsensordata)
-//     DmDq: (nv x nM)
+//     DmDq: (nv x nC)
 //   single-letter shortcuts:
 //     inputs: q=qpos, v=qvel, a=qacc
-//     outputs: f=qfrc_inverse, s=sensordata, m=qM
+//     outputs: f=qfrc_inverse, s=sensordata, m=M
 //   notes:
 //     optionally compute mass matrix Jacobian DmDq
 //     flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse
 void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
                    mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
                    mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
                    mjtNum *DmDq) {
-  int nq = m->nq, nv = m->nv, nM = m->nM, ns = m->nsensordata;
+  int nq = m->nq, nv = m->nv, nC = m->nC, ns = m->nsensordata;
 
   if (m->opt.integrator == mjINT_RK4) {
     mjERROR("RK4 integrator is not supported");
@@ -628,15 +628,15 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuatio
   mjtNum *force      = mjSTACKALLOC(d, nv, mjtNum);                      // force
   mjtNum *force_plus = mjSTACKALLOC(d, nv, mjtNum);                      // nudged force
   mjtNum *sensor     = skipsensor ? NULL : mjSTACKALLOC(d, ns, mjtNum);  // sensor values
-  mjtNum *mass       = DmDq ? mjSTACKALLOC(d, nM, mjtNum) : NULL;        // mass matrix
+  mjtNum *mass       = DmDq ? mjSTACKALLOC(d, nC, mjtNum) : NULL;        // mass matrix
 
   // save current positions
   mju_copy(pos, d->qpos, nq);
 
   // center point outputs
   inverseSkip(m, d, mjSTAGE_NONE, skipsensor, flg_actuation, force);
   if (sensor) mju_copy(sensor, d->sensordata, ns);
-  if (mass) mju_copy(mass, d->qM, nM);
+  if (mass) mju_copy(mass, d->M, nC);
 
   // acceleration: skip = mjSTAGE_VEL
   if (DfDa || DsDa) {
@@ -702,7 +702,7 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuatio
       if (DsDq) diff(DsDq + i*ns, sensor, d->sensordata, eps, ns);
 
       // row of inertia Jacobian
-      if (DmDq) diff(DmDq + i*nM, mass, d->qM, eps, nM);
+      if (DmDq) diff(DmDq + i*nC, mass, d->M, eps, nC);
     }
   }
 

test/engine/engine_derivative_test.cc

@@ -785,15 +785,15 @@ TEST_F(DerivativeTest, LinearSystemInverse) {
 
   int nv = model->nv;
   int ns = model->nsensordata;
-  int nM = model->nM;
+  int nC = model->nC;
 
   vector<mjtNum> DfDq(nv * nv);
   vector<mjtNum> DfDv(nv * nv);
   vector<mjtNum> DfDa(nv * nv);
   vector<mjtNum> DsDq(nv * ns);
   vector<mjtNum> DsDv(nv * ns);
   vector<mjtNum> DsDa(nv * ns);
-  vector<mjtNum> DmDq(nv * nM);
+  vector<mjtNum> DmDq(nv * nC);
 
   // call mj_forward to get accelerations at initial state
   mj_forward(model, data);
@@ -847,7 +847,7 @@ TEST_F(DerivativeTest, LinearSystemInverse) {
   EXPECT_THAT(DsDa, Pointwise(DoubleNear(eps), DsDa_expect));
 
   // expect that mass matrix derivatives are zero
-  vector<mjtNum> DmDq_expect(nv * nM, 0);
+  vector<mjtNum> DmDq_expect(nv * nC, 0);
   EXPECT_THAT(DmDq, Pointwise(DoubleNear(eps), DmDq_expect));
 
   mj_deleteData(data);

wasm/codegen/generated/bindings.cc

@@ -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());
 }