From ae9ec24d3a43de8c03387e4a742e345f8cfaf730 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 11 Oct 2024 02:45:39 -0700
Subject: [PATCH] Add dm_control creature example to mjSpec tutorial.

PiperOrigin-RevId: 684764674
Change-Id: If7f8b7b29587f9c50e2cb8e155484bc7f3f18b0f
---
 src/user/user_api.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 052e07ed..8eac4a2a 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -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);
 }