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Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

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PiperOrigin-RevId: 916932908
Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
This commit is contained in:
Yuval Tassa
2026-05-17 16:47:20 -07:00
committed by Copybara-Service
parent 66d764a116
commit 71d1014e70
21 changed files with 234 additions and 57 deletions
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python/mujoco/bindings_test.py
+1 -1
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@@ -966,7 +966,7 @@ Euler integrator, semi-implicit in velocity.
self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1 << 0)
self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1 << 1)
self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1 << 2)
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 5)
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
python/mujoco/introspect/enums.py
+2 -1
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@@ -60,7 +60,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjENBL_FWDINV', 4),
('mjENBL_INVDISCRETE', 8),
('mjENBL_SLEEP', 16),
('mjNENABLE', 5),
('mjENBL_DIAGEXACT', 32),
('mjNENABLE', 6),
]),
)),
('mjtJoint',
python/mujoco/introspect/enums_test.py
+2 -1
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@@ -43,7 +43,8 @@ class EnumsTest(absltest.TestCase):
('mjENBL_FWDINV', 1<<2),
('mjENBL_INVDISCRETE', 1<<3),
('mjENBL_SLEEP', 1<<4),
('mjNENABLE', 5)))
('mjENBL_DIAGEXACT', 1<<5),
('mjNENABLE', 6)))
# values mostly increment by one with occasional overrides
def test_mjtGeom(self): # pylint: disable=invalid-name