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Mocap bodies are the weld root of their own kinematic subtree.

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PiperOrigin-RevId: 960212286
Change-Id: Ibeff129c3110576c8846c76ba6ab756f23c0fa2e
This commit is contained in:
Yuval Tassa
2026-08-06 04:09:41 -07:00
committed by Copybara-Service
parent 0accc5b3c7
commit ed13bf5647
19 changed files with 260 additions and 63 deletions
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include/mujoco/mjmodel.h
+1 -1
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@@ -370,7 +370,7 @@ typedef struct mjModel_ {
// bodies
int* body_parentid; // id of body's parent (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_weldid; // top dof-less ancestor; mocap: own root (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)