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Add mjtSameFrame enum to specify frame alignment of bodies with their children.

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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
This commit is contained in:
Yuval Tassa
2024-08-22 05:16:02 -07:00
committed by Copybara-Service
parent a2649d6cec
commit 8b03daa09b
13 changed files with 173 additions and 109 deletions
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introspect/structs.py
+3 -3
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@@ -1343,7 +1343,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='inertial frame is same as body frame (nbody x 1)',
doc='same frame as inertia (mjtSameframe) (nbody x 1)',
),
StructFieldDecl(
name='body_pos',
@@ -1770,7 +1770,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='same as body frame (1) or iframe (2) (ngeom x 1)',
doc='same frame as body (mjtSameframe) (ngeom x 1)',
),
StructFieldDecl(
name='geom_solmix',
@@ -1903,7 +1903,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='same as body frame (1) or iframe (2) (nsite x 1)',
doc='same frame as body (mjtSameframe) (nsite x 1)',
),
StructFieldDecl(
name='site_size',