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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)