don't build M and w for inactive contacts/limits
don't build M and w for inactive contacts/limits

thientu/drake,psiorx/drake,astrorog/drake,hanssusilo/drake,crogers3/drake,tkoolen/drake,edowson/drake,crogers3/drake,sheim/drake,manuelli/drake,tkoolen/drake,hanssusilo/drake,scottviteri/drake,thientu/drake,psiorx/drake,psiorx/drake,hanssusilo/drake,sheim/drake,crogers3/drake,hanssusilo/drake,hanssusilo/drake,billhoffman/drake,hanssusilo/drake,crogers3/drake,sheim/drake,billhoffman/drake,hanssusilo/drake,tkoolen/drake,manuelli/drake,manuelli/drake,scottviteri/drake,psiorx/drake,billhoffman/drake,billhoffman/drake,thientu/drake,astrorog/drake,astrorog/drake,astrorog/drake,psiorx/drake,scottviteri/drake,psiorx/drake,hanssusilo/drake,edowson/drake,edowson/drake,edowson/drake,crogers3/drake,astrorog/drake,thientu/drake,edowson/drake,billhoffman/drake,edowson/drake,billhoffman/drake,sheim/drake,sheim/drake,crogers3/drake,tkoolen/drake,sheim/drake,manuelli/drake,billhoffman/drake,tkoolen/drake,psiorx/drake,tkoolen/drake,manuelli/drake,billhoffman/drake,edowson/drake,manuelli/drake,crogers3/drake,sheim/drake,thientu/drake,tkoolen/drake,sheim/drake,psiorx/drake,scottviteri/drake,manuelli/drake,astrorog/drake,scottviteri/drake,thientu/drake,crogers3/drake,thientu/drake,scottviteri/drake,scottviteri/drake,edowson/drake,astrorog/drake