Add vertex equality option.

PiperOrigin-RevId: 860299454 Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
2026-01-23 16:29:17 -08:00
parent a5de40b400
commit 7da271c687
24 changed files with 391 additions and 30 deletions
@@ -399,6 +399,7 @@ int mj_wakeEquality(const mjModel* m, mjData* d) {
      mjERROR("tendon equality does not yet support sleeping");
      continue;
    case mjEQ_FLEX:
+    case mjEQ_FLEXVERT:
      mjERROR("flex equality does not yet support sleeping");
      continue;
    default:
@@ -641,6 +642,7 @@ static mjtSleepState mj_equalitySleepState(const mjModel* m, const mjData* d, in
      objtype = mjOBJ_TENDON;
      break;
    case mjEQ_FLEX:
+    case mjEQ_FLEXVERT:
      objtype = mjOBJ_FLEX;
      break;
    default: