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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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test/user/user_api_test.cc
+6 -6
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@@ -502,8 +502,8 @@ TEST_F(MujocoTest, AttachDifferent) {
<joint type="hinge" name="attached-hinge-1"/>
<geom class="attached-cylinder-1" material="attached-material-1"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<body name="attached-targetbody-1"/>
<body/>
<body name="attached-targetbody-1"/>
<body/>
</body>
</frame>
</body>
@@ -618,8 +618,8 @@ TEST_F(MujocoTest, AttachFrame) {
<joint type="hinge" name="attached-hinge-1"/>
<geom class="attached-cylinder-1" material="attached-material-1"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<body name="attached-targetbody-1"/>
<body/>
<body name="attached-targetbody-1"/>
<body/>
</body>
</frame>
</frame>
@@ -650,7 +650,7 @@ TEST_F(MujocoTest, AttachFrame) {
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
// get frame
// get body
mjsBody* body = mjs_findBody(parent, "sphere");
EXPECT_THAT(body, NotNull());
@@ -662,7 +662,7 @@ TEST_F(MujocoTest, AttachFrame) {
mjsFrame* frame = mjs_findFrame(child, "pframe");
EXPECT_THAT(frame, NotNull());
// attach child to parent frame
// attach child frame to parent body
EXPECT_THAT(
mjs_attachFrame(body, frame, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);