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Add dm_control creature example to mjSpec tutorial.

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PiperOrigin-RevId: 684764674
Change-Id: If7f8b7b29587f9c50e2cb8e155484bc7f3f18b0f
This commit is contained in:
Alessio Quaglino
2024-10-11 02:45:39 -07:00
committed by Copybara-Service
parent cdb167f275
commit ae9ec24d3a
1 changed files with 3 additions and 1 deletions
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src/user/user_api.cc
+3 -1
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@@ -168,9 +168,11 @@ mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
mju_error("parent site is null");
return nullptr;
}
mjSpec* spec = mjs_getSpec(parent->element);
mjCSite* site = static_cast<mjCSite*>(parent->element);
mjCBody* body = site->Body();
mjCFrame* frame = body->AddFrame(site->frame);
frame->SetParent(body);
frame->spec.pos[0] = site->spec.pos[0];
frame->spec.pos[1] = site->spec.pos[1];
frame->spec.pos[2] = site->spec.pos[2];
@@ -178,7 +180,7 @@ mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
frame->spec.quat[1] = site->spec.quat[1];
frame->spec.quat[2] = site->spec.quat[2];
frame->spec.quat[3] = site->spec.quat[3];
frame->SetParent(body);
mjs_resolveOrientation(frame->spec.quat, spec->degree, spec->eulerseq, &site->spec.alt);
return mjs_attachBody(&frame->spec, child, prefix, suffix);
}