From d464165e30fee71bdf79275e2eff2e85677501dd Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 8 Jul 2025 04:10:15 -0700
Subject: [PATCH] Print contact forces in `mj_printData`.

PiperOrigin-RevId: 780503111
Change-Id: I17c6f1584d5260fa9c88c54d0aea9ec0101c082b
---
 src/engine/engine_print.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
index d6e5204e..a64af393 100644
--- a/src/engine/engine_print.c
+++ b/src/engine/engine_print.c
@@ -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");