Add attach tag to MJCF.

PiperOrigin-RevId: 651117953 Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
2024-07-10 12:40:50 -07:00
parent 5b080bacc4
commit 27b9ddda5b
19 changed files with 419 additions and 248 deletions
@@ -0,0 +1,7 @@
+<mujoco model="child">
+  <worldbody>
+    <body name="body">
+      <geom name="geom" size="1" pos="2 0 0"/>
+    </body>
+  </worldbody>
+</mujoco>
@@ -0,0 +1,11 @@
+<mujoco>
+  <asset>
+    <model name="other" file="child.xml"/>
+  </asset>
+  <worldbody>
+    <body name="parent">
+      <geom name="geom" size="2"/>
+      <attach model="other" body="body" prefix="other"/>
+    </body>
+  </worldbody>
+</mujoco>