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Set parent frame of new frames after copying all frames.

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PiperOrigin-RevId: 737620918
Change-Id: I8f49570cab39bd84b2da908d3683dddc3b29cb3c
This commit is contained in:
Alessio Quaglino
2025-03-17 08:18:03 -07:00
committed by Copybara-Service
parent b10b0b7055
commit 35774706ee
2 changed files with 28 additions and 4 deletions
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test/user/user_api_test.cc
+16
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@@ -2569,5 +2569,21 @@ TEST_F(MujocoTest, ErrorWhenCompilingOrphanedSpec) {
mj_deleteSpec(child);
}
TEST_F(MujocoTest, SetFrameReverseOrder) {
mjSpec* spec = mj_makeSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsFrame* child = mjs_addFrame(world, nullptr);
mjsFrame* parent = mjs_addFrame(world, nullptr);
mjs_setString(child->name, "child");
mjs_setString(parent->name, "parent");
mjs_setFrame(child->element, parent);
mjSpec* copy = mj_copySpec(spec);
EXPECT_THAT(copy, NotNull());
EXPECT_THAT(mjs_findFrame(copy, "child"), NotNull());
EXPECT_THAT(mjs_findFrame(copy, "parent"), NotNull());
mj_deleteSpec(spec);
mj_deleteSpec(copy);
}
} // namespace
} // namespace mujoco