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Add mjmJoint, mjmCamera, and mjmLight to C API.

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PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
This commit is contained in:
Alessio Quaglino
2024-02-09 04:44:04 -08:00
committed by Copybara-Service
parent e77c3cb258
commit e3cbad280c
12 changed files with 506 additions and 282 deletions
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src/user/user_flexcomp.cc
+2 -2
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@@ -429,7 +429,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
// add radial slider
if (radial) {
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(pb, 0);
mjmJoint* jnt = mjm_addJoint(pb, 0);
// set properties
jnt->type = mjJNT_SLIDE;
@@ -442,7 +442,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
else {
for (int j=0; j<3; j++) {
// add joint to body
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(pb, 0);
mjmJoint* jnt = mjm_addJoint(pb, 0);
// set properties
jnt->type = mjJNT_SLIDE;