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Add attach tag to MJCF.

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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
This commit is contained in:
Alessio Quaglino
2024-07-10 12:40:50 -07:00
committed by Copybara-Service
parent 5b080bacc4
commit 27b9ddda5b
19 changed files with 419 additions and 248 deletions
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src/user/user_objects.cc
+15
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@@ -697,6 +697,9 @@ void mjCBase::NameSpace(const mjCModel* m) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
}
@@ -1000,6 +1003,9 @@ void mjCBody::NameSpace_(const mjCModel* m, bool propagate) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
for (auto& body : bodies) {
body->prefix = m->prefix;
@@ -2004,6 +2010,9 @@ void mjCGeom::NameSpace(const mjCModel* m) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
if (!spec_material_.empty() && model != m) {
spec_material_ = m->prefix + spec_material_ + m->suffix;
}
@@ -2768,6 +2777,9 @@ void mjCCamera::NameSpace(const mjCModel* m) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
if (!spec_targetbody_.empty()) {
spec_targetbody_ = m->prefix + spec_targetbody_ + m->suffix;
}
@@ -2917,6 +2929,9 @@ void mjCLight::NameSpace(const mjCModel* m) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
if (!spec_targetbody_.empty()) {
spec_targetbody_ = m->prefix + spec_targetbody_ + m->suffix;
}