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

PiperOrigin-RevId: 960212286 Change-Id: Ibeff129c3110576c8846c76ba6ab756f23c0fa2e
2026-08-06 04:09:41 -07:00
parent 0accc5b3c7
commit ed13bf5647
19 changed files with 260 additions and 63 deletions
@@ -1497,7 +1497,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 type=PointerType(
                     inner_type=ValueType(name='int'),
                 ),
-                 doc='top ancestor with no dofs to this body',
+                 doc='top dof-less ancestor; mocap: own root',
                 array_extent=('nbody',),
             ),
             StructFieldDecl(