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Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.

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Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
This commit is contained in:
Yuval Tassa
2023-10-03 09:29:45 -07:00
committed by Copybara-Service
parent 177aec68dc
commit ee78b8f76b
19 changed files with 180 additions and 72 deletions
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src/engine/engine_print.c
+7
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@@ -880,6 +880,13 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("CTRL", m->nu, 1, d->ctrl, fp, float_format);
printArray("QFRC_APPLIED", m->nv, 1, d->qfrc_applied, fp, float_format);
printArray("XFRC_APPLIED", m->nbody, 6, d->xfrc_applied, fp, float_format);
if (m->neq) {
fprintf(fp, NAME_FORMAT, "EQ_ACTIVE");
for (int c=0; c < m->neq; c++) {
fprintf(fp, " %d", d->eq_active[c]);
}
fprintf(fp, "\n\n");
}
printArray("MOCAP_POS", m->nmocap, 3, d->mocap_pos, fp, float_format);
printArray("MOCAP_QUAT", m->nmocap, 4, d->mocap_quat, fp, float_format);
printArray("QACC", m->nv, 1, d->qacc, fp, float_format);