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Clarify that equality constraints defined using the body-based semantic are assumed to be satisfied at `mjData.qpos0`.

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PiperOrigin-RevId: 717050088
Change-Id: I02e82cab5a60f0af48f7f921ba9bca11837f8063
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Yuval Tassa
2025-01-18 12:38:28 -08:00
committed by Copybara-Service
parent 69c66aa1bb
commit 463bc47633
1 changed files with 3 additions and 3 deletions
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doc/XMLreference.rst
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@@ -4380,7 +4380,7 @@ ball joint outside the kinematic tree. Connect constraints can be specified in o
- Using :ref:`body1<equality-connect-body1>` and :ref:`anchor<equality-connect-anchor>` (both required) and - Using :ref:`body1<equality-connect-body1>` and :ref:`anchor<equality-connect-anchor>` (both required) and
optionally :ref:`body2<equality-connect-body2>`. When using this specification, the constraint is assumed to be optionally :ref:`body2<equality-connect-body2>`. When using this specification, the constraint is assumed to be
satisfied in the configuration in which the model is defined. satisfied at the configuration in which the model is defined (``mjData.qpos0``).
- :ref:`site1<equality-connect-site1>` and :ref:`site2<equality-connect-site2>` (both required). When using this - :ref:`site1<equality-connect-site1>` and :ref:`site2<equality-connect-site2>` (both required). When using this
specification, the two sites will be pulled together by the constraint, regardless of their position in the default specification, the two sites will be pulled together by the constraint, regardless of their position in the default
configuration. An example of this specification is shown in configuration. An example of this specification is shown in
@@ -4426,8 +4426,8 @@ ball joint outside the kinematic tree. Connect constraints can be specified in o
:at:`anchor`: :at-val:`real(3), optional` :at:`anchor`: :at-val:`real(3), optional`
Coordinates of the 3D anchor point where the two bodies are connected, in the local coordinate frame of :at:`body1`. Coordinates of the 3D anchor point where the two bodies are connected, in the local coordinate frame of :at:`body1`.
The constraint is assumed to be satisfied in the configuration in which the model is defined, which lets the compiler The constraint is assumed to be satisfied in the configuration at which the model is defined (``mjData.qpos0``),
compute the associated anchor point for :at:`body2`. which lets the compiler compute the associated anchor point for :at:`body2`.
.. _equality-connect-site1: .. _equality-connect-site1: