chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Migrate mjd_inverseFD mass Jacobian from qM to M

Browse Source 
PiperOrigin-RevId: 942268237
Change-Id: I0ecfe161867ce9930cd6366d778077df2cd3197f
This commit is contained in:
Yuval Tassa
2026-07-03 15:35:16 -07:00
committed by Copybara-Service
parent 4b345457a8
commit 7e9ac58ff9
12 changed files with 24 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
wasm/codegen/generated/bindings.cc
+1 -1
View File
@@ -2057,7 +2057,7 @@ void mjd_inverseFD_wrapper(const MjModel& m, MjData& d, mjtNum eps, mjtBool flg_
CHECK_SIZE(DsDq, m.nv() * m.nsensordata());
CHECK_SIZE(DsDv, m.nv() * m.nsensordata());
CHECK_SIZE(DsDa, m.nv() * m.nsensordata());
CHECK_SIZE(DmDq, m.nv() * m.nM());
CHECK_SIZE(DmDq, m.nv() * m.nC());
mjd_inverseFD(m.get(), d.get(), eps, flg_actuation, DfDq_.data(), DfDv_.data(), DfDa_.data(), DsDq_.data(), DsDv_.data(), DsDa_.data(), DmDq_.data());
}