Also associate all children that need a parent body to the parent of the deleted body.
This is a bug that was causing the former children of the body that gets transformed to a frame to not be children of the new frame.
PiperOrigin-RevId: 702702853
Change-Id: I36d48f0446bc87c665b18d34e0b0609d82c70f51
Spec were copied after bodies are attached, so the reference to the source spec got lost during mj_copySpec().
PiperOrigin-RevId: 701287267
Change-Id: I55eff53c7ae9d42b03957be48ea506b80d274e03
Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes#2013.
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
This allows to resize parent keyframes also when the child has no keyframes.
PiperOrigin-RevId: 691045299
Change-Id: I3ab6509b13b5754e937ec77daf9efe697cabf1bc
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
The qposadr_ and dofadr_ variables of the joints were not being reset to -1 when a joint is copied. This could lead to errors when calling mj_recompile after attaching a compiled spec.
PiperOrigin-RevId: 686152004
Change-Id: I9e058089ce87ea0d8e51a7f43475bc48c6527a26
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.
PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
This enables to generate a list of all body children of a given type.
Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes#2112.
PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
Before this CL, the same mjCPlugin objects were referenced by both models.
Fixes#2100.
PiperOrigin-RevId: 680579479
Change-Id: Ida3459f78f9fa4a942cea31b3d5d3e8da2832feb
This is a no-op change for keyframes but it shows an example of behavior.
Also, fixed two bugs:
- Missing namespace when attaching frames.
- Incorrect body id and subtreedof when attaching a compiled spec. Fixes#2063.
PiperOrigin-RevId: 680289467
Change-Id: I2ddaa7ad2226fa466ec3bbf74a7553d497bb4bb9
Alessio Quaglino