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
59 lines
1.8 KiB
XML
59 lines
1.8 KiB
XML
<mujoco model="Equivalent Connects and Welds defined with sites and bodies">
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<option viscosity="1">
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<flag contact="disable"/>
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</option>
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<visual>
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<scale framewidth="0.05" framelength="0.4"/>
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</visual>
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<default>
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<default class="box">
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<geom type="box" size=".2" fromto=".2 .2 0 .2 .2 -1" rgba=".4 .7 .6 1"/>
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</default>
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<site rgba=".0 .7 0 1" size="0.05"/>
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</default>
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<worldbody>
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<geom pos="0 0 -2" type="plane" size="10 10 .01"/>
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<light pos="0 0 20"/>
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<site name="a1" pos="-2 0 0" euler="-90 0 0"/>
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<body name="a" pos="-2 1 0">
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<freejoint/>
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<geom class="box"/>
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<site name="a2" pos="0 -1 0"/>
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<body pos="0 0 -1">
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<geom class="box" size=".15"/>
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<site name="a_sensor"/>
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</body>
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</body>
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<site name="b1" euler="-90 0 0"/>
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<body name="b" pos="0 1 0">
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<freejoint/>
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<geom class="box"/>
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<site name="b2" pos="0 -1 0"/>
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<body pos="0 0 -1">
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<geom class="box" size=".15"/>
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<site name="b_sensor"/>
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</body>
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</body>
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</worldbody>
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<equality>
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<!-- equivalent connect and weld constraints defined with sites (enabled) and bodies (disabled) -->
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<connect name="connect site" site1="a1" site2="a2" active="true"/>
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<connect name="connect body" body1="a" body2="world" active="false" anchor="0 -1 0"/>
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<weld name="weld site" site1="b1" site2="b2" active="true"/>
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<weld name="weld body" body1="world" body2="b" active="false" anchor="0 -1 0" relpose="0 0 0 1 -1 0 0"/>
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</equality>
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<sensor>
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<force name="a_force" site="a_sensor"/>
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<torque name="a_torque" site="a_sensor"/>
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<force name="b_force" site="b_sensor"/>
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<torque name="b_torque" site="b_sensor"/>
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</sensor>
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</mujoco>
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