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Fix documentation describing relpose for weld equality.

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The documentation incorrectly claimed the position elements in relpose described body2 relative to body1 when it instead is meant to describe the position of the anchor relative to body1.

PiperOrigin-RevId: 875722437
Change-Id: Ib3b1fd9d14976623b08511068ea9e11746a28b02
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Sam Haves
2026-02-26 07:53:22 -08:00
committed by Copybara-Service
parent 47a750d4a6
commit b71cdfb4ec
1 changed files with 5 additions and 3 deletions
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doc/XMLreference.rst
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@@ -4654,9 +4654,11 @@ of the other body, without any joint elements in the child body. Weld constraint
.. _equality-weld-relpose:
:at:`relpose`: :at-val:`real(7), "0 1 0 0 0 0 0"`
This attribute specifies the relative pose (3D position followed by 4D quaternion orientation) of body2 relative to
body1. If the quaternion part (i.e., last 4 components of the vector) are all zeros, as in the default setting, this
attribute is ignored and the relative pose is the one corresponding to the model reference pose in qpos0. The unusual
This attribute specifies the relative pose (3D position followed by 4D quaternion orientation) of the anchor point
relative to body1. The position part (first 3 components) gives the anchor coordinates in the local frame of body1,
and the quaternion part (last 4 components) gives the relative orientation of body2 relative to body1. If the
quaternion part (i.e., last 4 components of the vector) are all zeros, as in the default setting, this attribute is
ignored and the relative pose is the one corresponding to the model reference pose in qpos0. The unusual
default is because all equality constraint types share the same default for their numeric parameters.
.. _equality-weld-anchor: