chenlin/Mujoco_WASM
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2 Commits

Author SHA1 Message Date
Yuval Tassa 2b192cebb6 PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1. 
This makes mj_forward calls idempotent if warmstart is disabled and quats in qpos are normalized.

PiperOrigin-RevId: 564442666
Change-Id: I9c43add82bcfb4101c19fbfbfc8c30091b8906d5
 2023-09-11 11:09:53 -07:00
Tom Erez 819b5cb982 Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse. 
PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
 2023-08-25 12:08:37 -07:00