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Would be great if MultiBodySystemFactories#cloneSubtree was public #12

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calvertdw opened this issue Jun 12, 2023 · 0 comments
Open

Would be great if MultiBodySystemFactories#cloneSubtree was public #12

calvertdw opened this issue Jun 12, 2023 · 0 comments

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@calvertdw
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This one is useful for cloning just an arm or a leg. The public one doesn't allow specifying the parent joint, which breaks the chain. Since you can't pass the chest, as it's got two arms.

us.ihmc.mecano.tools.MultiBodySystemFactories#cloneSubtree(us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyReadOnly, us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics, java.lang.String, us.ihmc.mecano.tools.MultiBodySystemFactories.RigidBodyBuilder, us.ihmc.mecano.tools.MultiBodySystemFactories.JointBuilder)
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@calvertdw