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Add frame element to MJCF.

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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
This commit is contained in:
Alessio Quaglino
2023-11-27 03:31:25 -08:00
committed by Copybara-Service
parent 8010aad7be
commit eb9568a48b
13 changed files with 411 additions and 17 deletions
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src/user/user_model.cc
+3 -1
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@@ -1506,7 +1506,9 @@ void mjCModel::CopyTree(mjModel* m) {
if (rotfound ||
!IsNullPose(m->jnt_pos+3*jid, NULL) ||
((pj->type==mjJNT_HINGE || pj->type==mjJNT_SLIDE) &&
((pj->locaxis[0]!=0) + (pj->locaxis[1]!=0) + (pj->locaxis[2]!=0))>1)) {
((mju_abs(pj->locaxis[0])>mjEPS) +
(mju_abs(pj->locaxis[1])>mjEPS) +
(mju_abs(pj->locaxis[2])>mjEPS)) > 1)) {
m->body_simple[i] = 0;
}