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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/xml/xml_native_reader.h
+3 -3
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@@ -30,7 +30,7 @@ class mjXReader : public mjXBase {
mjXReader(); // constructor
virtual ~mjXReader() = default; // destructor
void Parse(tinyxml2::XMLElement* root); // parse XML document
void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr); // parse XML document
void PrintSchema(std::stringstream& str, bool html, bool pad); // print text or HTML schema
void SetModelFileDir(std::string modelfiledir);
@@ -53,7 +53,7 @@ class mjXReader : public mjXBase {
void Custom(tinyxml2::XMLElement* section); // custom section
void Visual(tinyxml2::XMLElement* section); // visual section
void Statistic(tinyxml2::XMLElement* section); // statistic section
void Asset(tinyxml2::XMLElement* section); // asset section
void Asset(tinyxml2::XMLElement* section, const mjVFS* vfs); // asset section
void Body(tinyxml2::XMLElement* section, mjsBody* pbody,
mjsFrame* pframe); // body/world section
void Contact(tinyxml2::XMLElement* section); // contact section
@@ -99,7 +99,7 @@ class mjXReader : public mjXBase {
};
// MJCF schema
#define nMJCF 230
#define nMJCF 232
extern const char* MJCF[nMJCF][mjXATTRNUM];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_