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Add private function mj_makeM.

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PiperOrigin-RevId: 757689756
Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
This commit is contained in:
Yuval Tassa
2025-05-12 03:51:31 -07:00
committed by Copybara-Service
parent 9accc7ae51
commit 85dd78d6f3
5 changed files with 22 additions and 15 deletions
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src/engine/engine_inverse.c
+1 -2
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@@ -46,8 +46,7 @@ void mj_invPosition(const mjModel* m, mjData* d) {
mj_tendon(m, d);
TM_END(mjTIMER_POS_KINEMATICS);
mj_crb(m, d); // timed internally (POS_INERTIA)
mj_tendonArmature(m, d); // timed internally (POS_INERTIA)
mj_makeM(m, d); // timed internally (POS_INERTIA)
mj_factorM(m, d); // timed internally (POS_INERTIA)
mj_collision(m, d); // timed internally (POS_COLLISION)