Add plugins to flex parent body if there are pinned vertices.

Fixes #1270. PiperOrigin-RevId: 595429578 Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
2024-01-03 09:52:30 -08:00
parent 2940b934fe
commit 63ec34f9f8
4 changed files with 71 additions and 26 deletions
@@ -133,6 +133,9 @@ inline void ComputeForce(mjtNum* qfrc_passive,
      if (vertbodyid) {
        body_dofnum = m->body_dofnum[vertbodyid[v[i]]];
        body_dofadr = m->body_dofadr[vertbodyid[v[i]]];
+        if (body_dofnum && m->body_simple[vertbodyid[v[i]]] != 2) {
+          mju_error("Non-simple or non-static bodies are not yet supported");
+        }
      }
      for (int x = 0; x < body_dofnum; x++) {
        qfrc_passive[body_dofadr+x] -= force[3*i+x];