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Add missing fields in mj_printData, don't print integration-related fields if identically zero.

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PiperOrigin-RevId: 732917127
Change-Id: Ia5fe8e4b6c2485fcf4336847535c1cc72b9d6d62
This commit is contained in:
Yuval Tassa
2025-03-03 07:33:11 -08:00
committed by Copybara-Service
parent 010f9bacbb
commit 8f37ae1bf2
1 changed files with 12 additions and 4 deletions
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src/engine/engine_print.c
+12 -4
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@@ -1131,6 +1131,11 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
d->C_rowadr, d->C_colind, fp, float_format);
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
if (!mju_isZero(d->qHDiagInv, m->nv)) {
printSparse("QH", d->qH, m->nv, d->C_rownnz, d->C_rowadr, d->C_colind, fp, float_format);
printArray("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format);
}
// B sparse structure
mj_printSparsity("B: body-dof matrix", m->nbody, m->nv, d->B_rowadr, NULL, d->B_rownnz, NULL,
d->B_colind, fp);
@@ -1227,12 +1232,15 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
fprintf(fp, "\n\n");
// print qDeriv
printSparse("QDERIV", d->qDeriv, m->nv, d->D_rownnz, d->D_rowadr, d->D_colind,
fp, float_format);
if (!mju_isZero(d->qDeriv, m->nD)) {
printSparse("QDERIV", d->qDeriv, m->nv, d->D_rownnz, d->D_rowadr, d->D_colind,
fp, float_format);
}
// print qLU
printSparse("QLU", d->qLU, m->nv, d->D_rownnz, d->D_rowadr, d->D_colind,
fp, float_format);
if (!mju_isZero(d->qLU, m->nD)) {
printSparse("QLU", d->qLU, m->nv, d->D_rownnz, d->D_rowadr, d->D_colind, fp, float_format);
}
// contact
fprintf(fp, "CONTACT\n");