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Add error checking in mjs_setFrame.

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Also raise error if the frame is not found in the mjCBody copy constructor.

Fixes #2543.

PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
This commit is contained in:
Alessio Quaglino
2025-04-01 03:33:54 -07:00
committed by Copybara-Service
parent ebd30493c8
commit 86c970bc23
11 changed files with 125 additions and 25 deletions
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include/mujoco/mujoco.h
+2 -2
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@@ -1640,8 +1640,8 @@ MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
// Set element's default.
MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
// Set element's enclosing frame.
MJAPI void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
// Set element's enclosing frame, return 0 on success.
MJAPI int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
// Resolve alternative orientations to quat, return error if any.
MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,