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Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179

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The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.

PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
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Yuval Tassa
2024-10-28 10:43:09 -07:00
committed by Copybara-Service
parent 2c86136dd6
commit 864b805a6e
10 changed files with 234 additions and 34 deletions
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doc/changelog.rst
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@@ -24,6 +24,11 @@ MJX
Bug fixes
^^^^^^^^^
- Fixed several bugs related to connect and weld constraints with site semantics (fixes :github:issue:`2179`, reported
by :github:user:`yinfanyi`). The introduction of site specification to connects and welds in 3.2.3 conditionally
changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`, but these changes were not properly propagated in
several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and
runtime enabling/disabling of such constraints.
- Fixed a bug in slider-crank :ref:`transmission<geTransmission>`. The bug was introduced in 3.0.0.
Version 3.2.4 (Oct 15, 2024)