novaphy.EqType

Equality-constraint type accepted by ModelBuilder.add_equality_constraint(...).

Values

Value	Description
CONNECT	Constrain two body anchor points to coincide.
WELD	Constrain the relative pose of two bodies.
JOINT	Couple two joint coordinates with a polynomial relation.

row = builder.add_equality_constraint(
    novaphy.EqType.CONNECT,
    body1=body_a,
    body2=body_b,
    anchor=world_anchor,
)

For clearer call signatures, ModelBuilder also provides add_equality_constraint_connect(...), add_equality_constraint_weld(...), and add_equality_constraint_joint(...).

See Also

• ModelBuilder
• Native MuJoCo solver