Set tendon_invweight0=0 for models with no dofs.

PiperOrigin-RevId: 551851674 Change-Id: I9d2fd1728b4b654e5bb91ac8f0d203e275b7b93a
2023-07-28 07:53:17 -07:00
parent 455a081ee7
commit dac34c91bb
1 changed files with 3 additions and 0 deletions
@@ -161,6 +161,9 @@ static void set0(mjModel* m, mjData* d) {
      m->actuator_acc0[i] = mju_norm(tmp, nv);
    }
  } else {
+    for (int i=0; i < m->ntendon; i++) {
+      m->tendon_invweight0[i] = 0;
+    }
    for (int i=0; i < m->nu; i++) {
      m->actuator_acc0[i] = 0;
    }