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

Fix the array size of biasprm in mjsActuator specification.

Browse Source 
Note mjNBIAS == mjNGAIN, this change is a no-op.

PiperOrigin-RevId: 954712145
Change-Id: I096246e5d060596c4025ea4c23e8e9e887c8cd50
This commit is contained in:
Yuval Tassa
2026-07-27 10:44:47 -07:00
committed by Copybara-Service
parent e4d0a88ffd
commit c7b6e0b8dd
3 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+1 -1
View File
@@ -2240,7 +2240,7 @@ typedef struct mjsActuator_ { // actuator specification
mjtGain gaintype; // gain type mjtGain gaintype; // gain type
double gainprm[mjNGAIN]; // gain parameters double gainprm[mjNGAIN]; // gain parameters
mjtBias biastype; // bias type mjtBias biastype; // bias type
double biasprm[mjNGAIN]; // bias parameters double biasprm[mjNBIAS]; // bias parameters
// activation state // activation state
mjtDyn dyntype; // dynamics type mjtDyn dyntype; // dynamics type
include/mujoco/mjspec.h
+1 -1
View File
@@ -718,7 +718,7 @@ typedef struct mjsActuator_ { // actuator specification
mjtGain gaintype; // gain type mjtGain gaintype; // gain type
double gainprm[mjNGAIN]; // gain parameters double gainprm[mjNGAIN]; // gain parameters
mjtBias biastype; // bias type mjtBias biastype; // bias type
double biasprm[mjNGAIN]; // bias parameters double biasprm[mjNBIAS]; // bias parameters
// activation state // activation state
mjtDyn dyntype; // dynamics type mjtDyn dyntype; // dynamics type
include/mujoco/mjspecmacro.h
+1 -1
View File
@@ -492,7 +492,7 @@
X ( mjtGain, gaintype, 1 ) \ X ( mjtGain, gaintype, 1 ) \
XVEC( double, gainprm, mjNGAIN ) \ XVEC( double, gainprm, mjNGAIN ) \
X ( mjtBias, biastype, 1 ) \ X ( mjtBias, biastype, 1 ) \
XVEC( double, biasprm, mjNGAIN ) \ XVEC( double, biasprm, mjNBIAS ) \
X ( mjtDyn, dyntype, 1 ) \ X ( mjtDyn, dyntype, 1 ) \
XVEC( double, dynprm, mjNDYN ) \ XVEC( double, dynprm, mjNDYN ) \
X ( int, actdim, 1 ) \ X ( int, actdim, 1 ) \