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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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test/engine/engine_io_test.cc
-13
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@@ -549,7 +549,6 @@ TEST_F(ValidateReferencesTest, EqualityConstraints) {
<equality>
<connect anchor="0 0 0" body1="body1" />
<weld body1="body1" body2="body2" />
<distance geom1="geom1" geom2="geom2" />
<joint joint1="joint1"/>
<joint joint1="joint1" joint2="joint2"/>
<tendon tendon1="tendon1"/>
@@ -590,18 +589,6 @@ TEST_F(ValidateReferencesTest, EqualityConstraints) {
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj2id"));
model->eq_obj2id[1] = model->nbody - 1;
// distance constraint
model->eq_obj1id[2] = -1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj1id"));
model->eq_obj1id[2] = model->ngeom;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj1id"));
model->eq_obj1id[2] = 1;
model->eq_obj2id[2] = -1;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj2id"));
model->eq_obj2id[2] = model->ngeom;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("eq_obj2id"));
model->eq_obj2id[2] = model->ngeom - 1;
mj_deleteModel(model);
}