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Add Jdot correction for connect and weld constaints

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Measured reduction in constraint violations before/after this change:

| Model | Correction ON (Avg Viol) | Correction OFF (Avg Viol) | Reduction |
| :--- | :--- | :--- | :--- |
| `jdotv_connect_2d.xml` | 3.959e-4 | 1.699e-3 | **76.7%** |
| `jdotv_connect_3d.xml` | 1.399e-3 | 5.493e-3 | **74.5%** |
| `jdotv_weld_3d.xml` | 9.472e-3 | 1.148e-2 | **17.5%** |

PiperOrigin-RevId: 899137525
Change-Id: Ic3e33764ebd64239bab916289c23d80c3da0b51b
This commit is contained in:
Yuval Tassa
2026-04-13 12:47:17 -07:00
committed by Copybara-Service
parent 0c337799bd
commit 412cee2059
13 changed files with 481 additions and 43 deletions
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wasm/tests/bindings_test.ts
+1 -1
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@@ -365,7 +365,7 @@ describe('MuJoCo WASM Bindings', () => {
mujoco.mj_constraintUpdate(
model!, data!, res.GetView(), cost, /*flg_coneHessian=*/ 1);
expect(cost.GetView()[0]).toBeCloseTo(3355.837);
expect(cost.GetView()[0]).toBeCloseTo(3357.584);
res.delete();
cost.delete();