chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Print contact forces in mj_printData.

Browse Source 
PiperOrigin-RevId: 780503111
Change-Id: I17c6f1584d5260fa9c88c54d0aea9ec0101c082b
This commit is contained in:
Yuval Tassa
2025-07-08 04:10:15 -07:00
committed by Copybara-Service
parent 1a4ddca6cf
commit d464165e30
1 changed files with 4 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_print.c
+4
View File
@@ -1280,6 +1280,10 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printVector(" frame ", d->contact[i].frame, 9, fp, float_format);
printVector(" friction ", d->contact[i].friction, 5, fp, float_format);
printVector(" mu ", &d->contact[i].mu, 1, fp, float_format);
mjtNum force[6] = {0};
mj_contactForce(m, d, i, force);
printVector(" force ", force, 6, fp, float_format);
}
if (d->ncon) fprintf(fp, "\n");