Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site.

PiperOrigin-RevId: 737662046 Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
2025-03-17 10:20:42 -07:00
parent da04688071
commit 1bf24e9f67
9 changed files with 59 additions and 4 deletions
@@ -272,7 +272,7 @@ py::list FindAllImpl(raw::MjsBody& body, mjtObj objtype, bool recursive) {
 void SetFrame(raw::MjsBody* body, mjtObj objtype, raw::MjsFrame* frame) {
  mjsElement* el = mjs_firstChild(body, objtype, 0);
  while (el) {
-    if (frame->element != el) {
+    if (frame->element != el && mjs_getFrame(el) == nullptr) {
      mjs_setFrame(el, frame);
    }
    el = mjs_nextChild(body, el, 0);