From dac34c91bb29a99fc6b2de42de3db2d0bafdb11f Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Fri, 28 Jul 2023 07:53:17 -0700
Subject: [PATCH] Set tendon_invweight0=0 for models with no dofs.

PiperOrigin-RevId: 551851674
Change-Id: I9d2fd1728b4b654e5bb91ac8f0d203e275b7b93a
---
 src/engine/engine_setconst.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/engine/engine_setconst.c b/src/engine/engine_setconst.c
index 44b72d30..8470c23f 100644
--- a/src/engine/engine_setconst.c
+++ b/src/engine/engine_setconst.c
@@ -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;
     }