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Add description of eq_active state variable to documentation. Fixes #1208.

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PiperOrigin-RevId: 583712793
Change-Id: I6f4adca5692fd181bb8f6c0f34ae09a756a84fc1
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Yuval Tassa
2023-11-18 20:05:40 -08:00
committed by Copybara-Service
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doc/computation/index.rst
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@@ -656,6 +656,11 @@ MoCap poses: ``mocap_pos`` and ``mocap_quat``
6D poses from a motion-capture device. The default values set by :ref:`mj_resetData` are the poses of the bodies at
the default configuration.
Equality constraint toggle: ``eq_active``
``mjData.eq_active`` is a byte-valued array that allows the user to toggle the state of equality constraints at
runtime. The initial value of this array is ``mjModel.eq_active0`` which can be set in XML using the
:ref:`active<equality-connect-active>` attribute of :ref:`equality constraints<coEquality>`.
User data: ``userdata``
``mjData.userdata`` acts as a user-defined memory space untouched by the engine. For example it can be used by
callbacks. This is described in more detail in the :ref:`Programming chapter<siSimulation>`.