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Remove distance constraints.

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- `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed.
- The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected.

PiperOrigin-RevId: 467050101
Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7
This commit is contained in:
Yuval Tassa
2022-08-11 14:30:33 -07:00
committed by Copybara-Service
parent 396fdf00c3
commit c8ff7b3d34
14 changed files with 18 additions and 263 deletions
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doc/APIreference.rst
+1 -1
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@@ -324,7 +324,7 @@ mjtEq
mjEQ_WELD, // fix relative position and orientation of two bodies
mjEQ_JOINT, // couple the values of two scalar joints with cubic
mjEQ_TENDON, // couple the lengths of two tendons with cubic
mjEQ_DISTANCE // fix the contact distance betweent two geoms
mjEQ_DISTANCE // unsupported, will cause an error if used
} mjtEq;
| Defined in `mjmodel.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_