Add private function mj_makeM.

PiperOrigin-RevId: 757689756 Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
2025-05-12 03:51:31 -07:00
parent 9accc7ae51
commit 85dd78d6f3
5 changed files with 22 additions and 15 deletions
@@ -103,8 +103,7 @@ static void set0(mjModel* m, mjData* d) {

  // run remaining computations
  mj_tendon(m, d);
-  mj_crb(m, d);
-  mj_tendonArmature(m, d);
+  mj_makeM(m, d);
  mj_factorM(m, d);
  mj_flex(m, d);
  mj_transmission(m, d);