chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_model_test.cc
+2 -1
View File
@@ -100,8 +100,9 @@ TEST_F(UserModelTest, WeldRootID) {
EXPECT_THAT(AsVector(model->body_rootid, model->nbody),
ElementsAre(0, 1, 1, 3, 3, 5, 5, 7, 7, 9, 9));
// mocap bodies (7, 9) are their own weld roots, inherited by static children (8)
EXPECT_THAT(AsVector(model->body_weldid, model->nbody),
ElementsAre(0, 1, 2, 3, 3, 0, 0, 0, 0, 0, 10));
ElementsAre(0, 1, 2, 3, 3, 0, 0, 7, 7, 9, 10));
}
TEST_F(UserModelTest, RepeatedNames) {