From 8f37ae1bf2d7b7df68e3eec756fdb30228c86582 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 3 Mar 2025 07:33:11 -0800
Subject: [PATCH] Add missing fields in `mj_printData`, don't print
 integration-related fields if identically zero.

PiperOrigin-RevId: 732917127
Change-Id: Ia5fe8e4b6c2485fcf4336847535c1cc72b9d6d62
---
 src/engine/engine_print.c | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index 729a2e54..10178101 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -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");