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Allow connect constraints to be specified using sites.

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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
This commit is contained in:
Yuval Tassa
2024-08-29 07:09:52 -07:00
committed by Copybara-Service
parent 646455406c
commit a1036b86d3
19 changed files with 325 additions and 76 deletions
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include/mujoco/mjmodel.h
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@@ -985,6 +985,7 @@ struct mjModel_ {
int* eq_type; // constraint type (mjtEq) (neq x 1)
int* eq_obj1id; // id of object 1 (neq x 1)
int* eq_obj2id; // id of object 2 (neq x 1)
int* eq_objtype; // type of both objects (mjtObj) (neq x 1)
mjtByte* eq_active0; // initial enable/disable constraint state (neq x 1)
mjtNum* eq_solref; // constraint solver reference (neq x mjNREF)
mjtNum* eq_solimp; // constraint solver impedance (neq x mjNIMP)
include/mujoco/mjspec.h
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@@ -578,6 +578,7 @@ typedef struct mjsEquality_ { // equality specification
mjtByte active; // is equality initially active
mjString* name1; // name of object 1
mjString* name2; // name of object 2
mjtObj objtype; // type of both objects
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
mjString* info; // message appended to errors
include/mujoco/mjvisualize.h
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@@ -578,6 +578,7 @@ struct mjvSceneState_ {
int* eq_type;
int* eq_obj1id;
int* eq_obj2id;
int* eq_objtype;
mjtNum* eq_data;
int* tendon_num;
include/mujoco/mjxmacro.h
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@@ -438,6 +438,7 @@
XMJV( int, eq_type, neq, 1 ) \
XMJV( int, eq_obj1id, neq, 1 ) \
XMJV( int, eq_obj2id, neq, 1 ) \
XMJV( int, eq_objtype, neq, 1 ) \
X ( mjtByte, eq_active0, neq, 1 ) \
X ( mjtNum, eq_solref, neq, mjNREF ) \
X ( mjtNum, eq_solimp, neq, mjNIMP ) \