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Fix sparse-path rotational Jacobian misalignment in mj_jacSum

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PiperOrigin-RevId: 951341459
Change-Id: I18bc27765b3147a5eb520e3026317e9a5a2dfc30
This commit is contained in:
Yuval Tassa
2026-07-21 02:01:24 -07:00
committed by Copybara-Service
parent a1f38c8e6e
commit 426cb5481d
6 changed files with 182 additions and 41 deletions
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src/engine/engine_core_util.h
+1 -1
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@@ -101,7 +101,7 @@ MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
// dense or sparse weighted sum of multiple body Jacobians at same point
int mj_jacSum(const mjModel* m, mjData* d, int* chain,
int n, const int* body, const mjtNum* weight,
const mjtNum point[3], mjtNum* jac, int flg_rot);
const mjtNum point[3], mjtNum* jacp, mjtNum* jacr, int flg_rot);
// compute 3/6-by-nv Jacobian time derivative of global point attached to given body
MJAPI void mj_jacDot(const mjModel* m, const mjData* d,