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Do not delete pending keyframes during body detachment.

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PiperOrigin-RevId: 685670895
Change-Id: Iadd0ba8ca7e74a280559168ac0ac855405a1cfd9
This commit is contained in:
Alessio Quaglino
2024-10-14 05:22:50 -07:00
committed by Copybara-Service
parent c5a677a9de
commit c84f35b425
3 changed files with 13 additions and 9 deletions
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test/user/user_api_test.cc
+5 -3
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@@ -1456,10 +1456,12 @@ TEST_F(MujocoTest, ReplicateKeyframe) {
EXPECT_THAT(m->nbody, 2);
// check that the keyframe is resized
EXPECT_THAT(m->nkey, 1);
EXPECT_THAT(m->nkey, 2);
EXPECT_THAT(m->nq, 1);
EXPECT_THAT(m->key_qpos[0], 0);
EXPECT_STREQ(mj_id2name(m, mjOBJ_KEY, 0), "keyframe");
EXPECT_THAT(m->key_qpos[0], 1);
EXPECT_THAT(m->key_qpos[1], 0);
EXPECT_STREQ(mj_id2name(m, mjOBJ_KEY, 0), "keyframe0");
EXPECT_STREQ(mj_id2name(m, mjOBJ_KEY, 1), "keyframe");
mj_deleteModel(m);
}