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Add mjmSkin to C API.

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PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
This commit is contained in:
Alessio Quaglino
2024-02-15 05:07:51 -08:00
committed by Copybara-Service
parent bafe490ea8
commit 6f958bc404
13 changed files with 630 additions and 420 deletions
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src/user/user_flexcomp.cc
+3 -3
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@@ -385,7 +385,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
// rigid: set parent name, nothing else to do
if (rigid) {
mjm_addToStringVec(pf->vertbody, mjm_getString(body->name));
mjm_appendString(pf->vertbody, mjm_getString(body->name));
return true;
}
@@ -402,7 +402,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
// pinned: parent body
if (pinned[i]) {
mjm_addToStringVec(pf->vertbody, mjm_getString(body->name));
mjm_appendString(pf->vertbody, mjm_getString(body->name));
// add plugin
if (plugin_instance) {
@@ -459,7 +459,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
char txt[100];
mju::sprintf_arr(txt, "%s_%d", name.c_str(), i);
mjm_setString(pb->name, txt);
mjm_addToStringVec(pf->vertbody, mjm_getString(pb->name));
mjm_appendString(pf->vertbody, mjm_getString(pb->name));
// clear flex vertex coordinates if allocated
if (!centered) {