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

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Fixes #1270.

PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
This commit is contained in:
Alessio Quaglino
2024-01-03 09:52:30 -08:00
committed by Copybara-Service
parent 2940b934fe
commit 63ec34f9f8
4 changed files with 71 additions and 26 deletions
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src/user/user_flexcomp.cc
+8
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@@ -399,6 +399,14 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
// pinned: parent body
if (pinned[i]) {
pf->vertbody.push_back(body->name);
// add plugin
if (plugin_instance) {
body->is_plugin = true;
body->plugin_name = plugin_name;
body->plugin_instance = plugin_instance;
body->plugin_instance_name = plugin_instance_name;
}
}
// not pinned: new body