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Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.

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PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
This commit is contained in:
Yuval Tassa
2023-10-25 05:00:51 -07:00
committed by Copybara-Service
parent 190bfac2d6
commit a89412bb4a
8 changed files with 189 additions and 75 deletions
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src/engine/engine_print.c
+5 -1
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@@ -1085,7 +1085,11 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("QFRC_BIAS", m->nv, 1, d->qfrc_bias, fp, float_format);
printArray("QFRC_PASSIVE", m->nv, 1, d->qfrc_passive, fp, float_format);
printArray("QFRC_SPRING", m->nv, 1, d->qfrc_spring, fp, float_format);
printArray("QFRC_DAMPER", m->nv, 1, d->qfrc_damper, fp, float_format);
printArray("QFRC_GRAVCOMP", m->nv, 1, d->qfrc_gravcomp, fp, float_format);
printArray("QFRC_FLUID", m->nv, 1, d->qfrc_fluid, fp, float_format);
printArray("QFRC_PASSIVE", m->nv, 1, d->qfrc_passive, fp, float_format);
printArray("EFC_VEL", d->nefc, 1, d->efc_vel, fp, float_format);
printArray("EFC_AREF", d->nefc, 1, d->efc_aref, fp, float_format);