Improve nJmom by counting number of dofs for slidercrank and site transmissions

PiperOrigin-RevId: 875233737 Change-Id: I2cf3afad7e29e176a4f5a917dd35cfad99b2b0a3
2026-02-25 10:40:52 -08:00
parent b907ffedaa
commit 53fadd9d63
5 changed files with 51 additions and 34 deletions
@@ -1598,7 +1598,7 @@ static int mj_jacDifPairCount(const mjModel* m, int* chain,
    if (m->body_simple[b1] && m->body_simple[b2]) {
      return mj_mergeChainSimple(m, chain, b1, b2);
    }
-    return mj_mergeChain(m, chain, b1, b2);
+    return mj_mergeChain(m, chain, b1, b2, 0);
  }

  return m->nv;