From 1bfa8b6fa6f74edd32f58edfe41d4b3f78a65ecd Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Tue, 28 Oct 2025 06:12:41 -0700
Subject: [PATCH] Do not add bodies at mesh points for quadratic flex
 interpolation.

PiperOrigin-RevId: 825001743
Change-Id: Ica085b947fb1c3f56251bceaa6a228f364535d3e
---
 src/user/user_flexcomp.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index ace33c74..63a61790 100644
--- a/src/user/user_flexcomp.cc
+++ b/src/user/user_flexcomp.cc
@@ -441,8 +441,8 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
       continue;
     }
 
-    // pinned or trilinear: parent body
-    if (pinned[i] || doftype == mjFCOMPDOF_TRILINEAR) {
+    // pinned or trilinear or quadratic: parent body
+    if (pinned[i] || doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC) {
       mjs_appendString(pf->vertbody, mjs_getName(body->element)->c_str());
 
       // add plugin