From 98082ae7f9b25df3ab3a26dc873fc330de8f1fb9 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sat, 18 Nov 2023 20:05:40 -0800
Subject: [PATCH] Add description of `eq_active` state variable to
 documentation. Fixes #1208.

PiperOrigin-RevId: 583712793
Change-Id: I6f4adca5692fd181bb8f6c0f34ae09a756a84fc1
---
 doc/computation/index.rst | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/doc/computation/index.rst b/doc/computation/index.rst
index ca7c9e98..5665fb02 100644
--- a/doc/computation/index.rst
+++ b/doc/computation/index.rst
@@ -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>`.