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Add site semantics to weld constraint. Fixes #1896

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PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
This commit is contained in:
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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src/engine/engine_io.c
+17 -5
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@@ -2239,6 +2239,7 @@ const char* mj_validateReferences(const mjModel* m) {
for (int i=0; i < m->neq; i++) {
int obj1id = m->eq_obj1id[i];
int obj2id = m->eq_obj2id[i];
int objtype = m->eq_objtype[i];
switch ((mjtEq) m->eq_type[i]) {
case mjEQ_JOINT:
if (obj1id >= m->njnt || obj1id < 0) {
@@ -2262,11 +2263,22 @@ const char* mj_validateReferences(const mjModel* m) {
case mjEQ_WELD:
case mjEQ_CONNECT:
if (obj1id >= m->nbody || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
if (obj2id >= m->nbody || obj2id < 0) {
return "Invalid model: eq_obj2id out of bounds.";
if (objtype == mjOBJ_BODY) {
if (obj1id >= m->nbody || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
if (obj2id >= m->nbody || obj2id < 0) {
return "Invalid model: eq_obj2id out of bounds.";
}
} else if (objtype == mjOBJ_SITE) {
if (obj1id >= m->nsite || obj1id < 0) {
return "Invalid model: eq_obj1id out of bounds.";
}
if (obj2id >= m->nsite || obj2id < 0) {
return "Invalid model: eq_obj2id out of bounds.";
}
} else {
return "Invalid model: eq_objtype is not body or site.";
}
break;