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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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src/user/user_model.cc
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@@ -2727,6 +2727,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->eq_type[i] = peq->type;
m->eq_obj1id[i] = peq->obj1id;
m->eq_obj2id[i] = peq->obj2id;
m->eq_objtype[i] = peq->objtype;
m->eq_active0[i] = peq->active;
mjuu_copyvec(m->eq_solref+mjNREF*i, peq->solref, mjNREF);
mjuu_copyvec(m->eq_solimp+mjNIMP*i, peq->solimp, mjNIMP);