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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/user/user_objects.cc
+4 -1
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@@ -4920,7 +4920,10 @@ void mjCEquality::ResolveReferences(const mjCModel* m) {
// determine object type
if (type==mjEQ_WELD) {
object_type = mjOBJ_BODY;
if (objtype != mjOBJ_SITE && objtype != mjOBJ_BODY) {
throw mjCError(this, "weld constraint supports only sites and bodies");
}
object_type = objtype;
} else if (type==mjEQ_CONNECT) {
if (objtype != mjOBJ_SITE && objtype != mjOBJ_BODY) {
throw mjCError(this, "connect constraint supports only sites and bodies");