Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

PiperOrigin-RevId: 916932908 Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
2026-05-17 16:47:20 -07:00
parent 66d764a116
commit 71d1014e70
21 changed files with 234 additions and 57 deletions
@@ -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