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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/xml/xml_native_writer.cc
+8 -3
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@@ -620,9 +620,14 @@ void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* equality, mjCDe
switch (equality->type) {
case mjEQ_CONNECT:
WriteAttrTxt(elem, "body1", mjs_getString(equality->name1));
WriteAttrTxt(elem, "body2", mjs_getString(equality->name2));
WriteAttr(elem, "anchor", 3, equality->data);
if (equality->objtype == mjOBJ_BODY) {
WriteAttrTxt(elem, "body1", mjs_getString(equality->name1));
WriteAttrTxt(elem, "body2", mjs_getString(equality->name2));
WriteAttr(elem, "anchor", 3, equality->data);
} else {
WriteAttrTxt(elem, "site1", mjs_getString(equality->name1));
WriteAttrTxt(elem, "site2", mjs_getString(equality->name2));
}
break;
case mjEQ_WELD: