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Make model editing API public, fixes #364

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Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
This commit is contained in:
Alessio Quaglino
2024-06-07 22:27:10 -07:00
committed by Copybara-Service
parent 4c3d9461ae
commit 7a06bcfdaf
46 changed files with 8508 additions and 980 deletions
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src/user/user_flexcomp.cc
+3 -3
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@@ -34,7 +34,7 @@
#include "engine/engine_util_misc.h"
#include "engine/engine_util_spatial.h"
#include "user/user_flexcomp.h"
#include "user/user_api.h"
#include <mujoco/mjspec.h>
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_util.h"
@@ -443,7 +443,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
if (plugin.active) {
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->instance = static_cast<mjElement*>(plugin.instance);
pplugin->instance = static_cast<mjsElement*>(plugin.instance);
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
@@ -507,7 +507,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
if (plugin.active) {
mjsPlugin* pplugin = &pb->plugin;
pplugin->active = true;
pplugin->instance = static_cast<mjElement*>(plugin.instance);
pplugin->instance = static_cast<mjsElement*>(plugin.instance);
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}