Generalized Inertia Matrix

[Tadinu]

In MuJoCo, the generalized inertia matrix is stored as a joint-space sparse one in mjData.qM, calculated by https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mj-crb
Is there an equivalent one in Genesis, or a plan to implement it?
Thank you!

[duburcqa]

scene.sim.rigid_solver.mass_mat.to_numpy()[:, :, 0] is the dense mass matrix, including both damping in tangent configuration space (dof) and motor armatures. No plan to implement the sparse representation. For mapping between Mujoco and Genesis quantities, have a look at this unit test utility.

[Tadinu]

Thanks alot, I think folks would love to reference this, so would be great to have it in the docs like a section for all MuJoCo-related/inspired features maybe.