[Mjcf] Do not store frame

MegMll · jorisv · web-flow · commit 3ea4df34e9a8 · 2025-01-10T10:17:43.000+01:00
Co-authored-by: Joris Vaillant &lt;joris.vaillant@gmail.com&gt;
diff --git a/src/parsers/mjcf/mjcf-graph.cpp b/src/parsers/mjcf/mjcf-graph.cpp
@@ -1077,7 +1077,7 @@ namespace pinocchio
         for (const auto & site : currentBody.siteChildren)
         {
           SE3 placement = bodyInJoint * site.sitePlacement;
-          FrameIndex previousFrameId = urdfVisitor.model.addFrame(
+          urdfVisitor.model.addFrame(
             Frame(site.siteName, frame.parentJoint, bodyId, placement, OP_FRAME));
         }
       }

Original file line number	Diff line number	Diff line change
`@@ -1077,7 +1077,7 @@ namespace pinocchio`
`1077`	`1077`	`for (const auto & site : currentBody.siteChildren)`
`1078`	`1078`	`{`
`1079`	`1079`	`SE3 placement = bodyInJoint * site.sitePlacement;`
`1080`		`- FrameIndex previousFrameId = urdfVisitor.model.addFrame(`
	`1080`	`+ urdfVisitor.model.addFrame(`
`1081`	`1081`	`Frame(site.siteName, frame.parentJoint, bodyId, placement, OP_FRAME));`
`1082`	`1082`	`}`
`1083`	`1083`	`}`