Zero actuator_velocity if actuation is disabled.

PiperOrigin-RevId: 809986353 Change-Id: Ie9fecda80864fef3377074042fd7829af8d03d64
2025-09-22 06:23:46 -07:00
parent 6eea3d8ec0
commit 4bbe4e5ebc
1 changed files with 2 additions and 0 deletions
@@ -214,6 +214,8 @@ void mj_fwdVelocity(const mjModel* m, mjData* d) {
  if (!mjDISABLED(mjDSBL_ACTUATION)) {
    mju_mulMatVecSparse(d->actuator_velocity, d->actuator_moment, d->qvel, m->nu,
                        d->moment_rownnz, d->moment_rowadr, d->moment_colind, NULL);
+  } else {
+    mju_zero(d->actuator_velocity, m->nu);
  }

  // com-based velocities, passive forces, constraint references