Add site semantics to weld constraint. Fixes #1896

PiperOrigin-RevId: 675112981 Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:44:53 -07:00
parent 2da15cf137
commit 60a1921b34
13 changed files with 368 additions and 77 deletions
@@ -47,6 +47,16 @@
      <freejoint/>
      <geom class="free"/>
    </body>
+
+    <body name="box5" pos="5 0 0">
+      <geom type="box" class="static"/>
+      <site name="box5"/>
+    </body>
+    <body name="beam5" pos="5 0 0">
+      <freejoint/>
+      <geom class="free"/>
+      <site name="beam5" pos="0 -1 0" euler="45 20 5"/>
+    </body>
  </worldbody>

  <equality>
@@ -54,5 +64,6 @@
    <weld name="anchor no torques" body1="box2" body2="beam2" torquescale="0" anchor="0 -2 0"/>
    <weld name="relpose"           body1="box3" body2="beam3" relpose="0 0 0 1 -.3 0 0"/>
    <weld name="relpose+anchor"    body1="box4" body2="beam4" relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/>
+    <weld name="site"              site1="box5" site2="beam5"/>
  </equality>
 </mujoco>