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Fix typo

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PiperOrigin-RevId: 559383537
Change-Id: I9510970c26b94b8e8bb90423d6164fc82b9bd016
This commit is contained in:
Yuval Tassa
2023-08-23 04:24:32 -07:00
committed by Copybara-Service
parent 90f58ebe5d
commit e4c3e1468b
1 changed files with 1 additions and 1 deletions
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src/engine/engine_inverse.c
+1 -1
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@@ -151,7 +151,7 @@ void mj_inverseSkip(const mjModel* m, mjData* d,
mj_sensorAcc(m, d); mj_sensorAcc(m, d);
} }
// qfrc_inverse += artmature*qacc - qfrc_passive - qfrc_constraint // qfrc_inverse += armature*qacc - qfrc_passive - qfrc_constraint
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
d->qfrc_inverse[i] += m->dof_armature[i]*d->qacc[i] d->qfrc_inverse[i] += m->dof_armature[i]*d->qacc[i]
- d->qfrc_passive[i] - d->qfrc_constraint[i]; - d->qfrc_passive[i] - d->qfrc_constraint[i];