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Add site semantics to weld constraint. Fixes #1896

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PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
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Taylor Howell
2024-09-16 05:44:53 -07:00
committed by Copybara-Service
parent 2da15cf137
commit 60a1921b34
13 changed files with 368 additions and 77 deletions
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doc/XMLschema.rst
+2 -2
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@@ -642,9 +642,9 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<equality-weld-name>` | :ref:`class<equality-weld-class>` | :ref:`body1<equality-weld-body1>` | :ref:`body2<equality-weld-body2>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`relpose<equality-weld-relpose>` | :ref:`anchor<equality-weld-anchor>` | :ref:`active<equality-weld-active>` | :ref:`solref<equality-weld-solref>` | |
| | | | :ref:`relpose<equality-weld-relpose>` | :ref:`anchor<equality-weld-anchor>` | :ref:`site1<equality-weld-site1>` | :ref:`site2<equality-weld-site2>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<equality-weld-solimp>` | :ref:`torquescale<equality-weld-torquescale>` | | | |
| | | | :ref:`active<equality-weld-active>` | :ref:`solref<equality-weld-solref>` | :ref:`solimp<equality-weld-solimp>` | :ref:`torquescale<equality-weld-torquescale>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| equality |br| |_| |L| | | .. table:: |