chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Support nested frames in mjs_attachFrame.

Browse Source 
PiperOrigin-RevId: 626001651
Change-Id: I3dc52baa6aad875504dd4c7d969a4091f52c4c16
This commit is contained in:
Alessio Quaglino
2024-04-18 05:35:54 -07:00
committed by Copybara-Service
parent d2392efe6c
commit c331d18a6e
3 changed files with 40 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+18 -14
View File
@@ -200,13 +200,15 @@ static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<frame name="pframe">
<body name="body">
<joint type="hinge" name="hinge"/>
<geom type="cylinder" size=".1 1 0"/>
<light mode="targetbody" target="targetbody"/>
<body name="targetbody"/>
<body/>
</body>
<frame name="cframe">
<body name="body">
<joint type="hinge" name="hinge"/>
<geom type="cylinder" size=".1 1 0"/>
<light mode="targetbody" target="targetbody"/>
<body name="targetbody"/>
<body/>
</body>
</frame>
</frame>
<body name="ignore"/>
<frame name="frame" pos=".1 0 0" euler="0 90 0"/>
@@ -437,13 +439,15 @@ TEST_F(MujocoTest, AttachFrame) {
<geom size=".1"/>
<frame name="frame" pos=".1 0 0" euler="0 90 0"/>
<frame name="pframe">
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom type="cylinder" size=".1 1 0"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<body name="attached-targetbody-1"/>
<body/>
</body>
<frame name="cframe">
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom type="cylinder" size=".1 1 0"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<body name="attached-targetbody-1"/>
<body/>
</body>
</frame>
</frame>
</body>
</worldbody>