Fix out of bounds write in clampedDiff in engine_derivative_fd.c

PiperOrigin-RevId: 535234007 Change-Id: I1ca54df1324346cd250409125939fdf6f63cee04
2023-05-25 06:24:27 -07:00
parent c66d79409c
commit cce7fb04d1
1 changed files with 1 additions and 1 deletions
@@ -122,7 +122,7 @@ static void clampedStateDiff(const mjModel* m, mjtNum* ds, const mjtNum* s, cons
    stateDiff(m, ds, s_minus, s_plus, 2*h);
  } else {
    // differencing failed, write zeros
-    mju_zero(ds, m->nq + m->nv + m->na);
+    mju_zero(ds, 2*m->nv + m->na);
  }
 }