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Clarify semantic of body_rootid and body_weldid

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PiperOrigin-RevId: 834827589
Change-Id: I562e0aa374ce59d8b769e8d003e4c63ee434a1fc
This commit is contained in:
Yuval Tassa
2025-11-20 10:53:59 -08:00
committed by Copybara-Service
parent 7cb2e31f4b
commit c2e9bfa3e8
3 changed files with 6 additions and 6 deletions
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doc/includes/references.h
+2 -2
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@@ -1092,8 +1092,8 @@ struct mjModel_ {
// bodies
int* body_parentid; // id of body's parent (nbody x 1)
int* body_rootid; // id of root above body (nbody x 1)
int* body_weldid; // id of body that this body is welded to (nbody x 1)
int* body_rootid; // ancestor that is direct child of world (nbody x 1)
int* body_weldid; // top ancestor with no dofs to this body (nbody x 1)
int* body_mocapid; // id of mocap data; -1: none (nbody x 1)
int* body_jntnum; // number of joints for this body (nbody x 1)
int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
include/mujoco/mjmodel.h
+2 -2
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@@ -751,8 +751,8 @@ struct mjModel_ {
// bodies
int* body_parentid; // id of body's parent (nbody x 1)
int* body_rootid; // id of root above body (nbody x 1)
int* body_weldid; // id of body that this body is welded to (nbody x 1)
int* body_rootid; // ancestor that is direct child of world (nbody x 1)
int* body_weldid; // top ancestor with no dofs to this body (nbody x 1)
int* body_mocapid; // id of mocap data; -1: none (nbody x 1)
int* body_jntnum; // number of joints for this body (nbody x 1)
int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
python/mujoco/introspect/structs.py
+2 -2
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@@ -1328,7 +1328,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of root above body',
doc='ancestor that is direct child of world',
array_extent=('nbody',),
),
StructFieldDecl(
@@ -1336,7 +1336,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of body that this body is welded to',
doc='top ancestor with no dofs to this body',
array_extent=('nbody',),
),
StructFieldDecl(