Yuval Tassa
864b805a6e
The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints. PiperOrigin-RevId: 690670420 Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
82 lines
1.9 KiB
XML
82 lines
1.9 KiB
XML
<!--
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test model for constraint islanding:
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- 7 equalities (1:joint, 6:connect)
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- 1 limit
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- 2 friction constraints
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- 1 unconstrained dof
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- 4 islands, 2 with non-contiguous dofs
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-->
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<mujoco>
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<option>
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<flag island="enable"/>
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</option>
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<default>
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<geom size=".1"/>
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</default>
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<visual>
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<headlight diffuse=".9 .9 .9"/>
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</visual>
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<worldbody>
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<body>
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<joint type="slide" axis="0 0 1" range="0 1" limited="true"/>
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<geom/>
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</body>
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<body pos=".25 0 0">
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<joint type="slide" axis="1 0 0"/>
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<geom/>
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</body>
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<body pos="0 0 0.25">
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<joint type="slide" axis="0 0 1"/>
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<geom/>
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<body pos="0 -.15 0">
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<joint name="hinge1" axis="0 1 0"/>
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<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
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<body pos="-.2 0 0">
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<joint axis="0 1 0"/>
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<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
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</body>
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</body>
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</body>
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<body pos=".5 0 0">
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<joint type="slide" axis="0 0 1" frictionloss="15"/>
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<geom type="box" size=".08 .08 .02" euler="0 10 0"/>
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</body>
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<body pos="-.5 0 0">
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<joint axis="0 1 0" frictionloss=".01"/>
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<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
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</body>
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<body pos="0 0 .5">
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<joint name="hinge2" axis="0 1 0"/>
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<geom type="box" size=".08 .02 .08"/>
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</body>
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<body pos=".5 0 .1">
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<freejoint/>
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<geom type="box" size=".03 .03 .03" pos="0.01 0.01 0.01"/>
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</body>
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<site name="0" pos="-.45 -.05 .35"/>
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<body pos="-.5 0 .3" name="connect">
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<freejoint/>
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<geom type="box" size=".05 .05 .05"/>
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<site name="1" pos=".05 -.05 .05"/>
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</body>
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</worldbody>
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<equality>
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<joint joint1="hinge1" joint2="hinge2"/>
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<connect body1="connect" body2="world" anchor="-.05 -.05 .05"/>
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<connect site1="0" site2="1"/>
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</equality>
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</mujoco>
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