chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Allow self-attach in MJCF

Browse Source 
PiperOrigin-RevId: 941676717
Change-Id: I9ff8fc89716bc14b438a41e2b4075bbe5fdb83cf
This commit is contained in:
Yuval Tassa
2026-07-02 06:51:04 -07:00
committed by Copybara-Service
parent cdc35dec38
commit 2d283b5e9d
4 changed files with 178 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+14 -11
View File
@@ -3996,16 +3996,18 @@ Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin`
:el-prefix:`body/` |-| **attach** |*|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The :el:`attach` element is used to insert elements from another (child) model into this (parent) model's kinematic tree.
Unlike :ref:`include<include>`, which is implemented in the parser and is equivalent to copying and pasting XML from one
file into another, :el:`attach` is implemented in the model compiler. In order to use this element, the sub-model must
first be defined as an :ref:`asset<asset-model>`. When creating an attachment, a frame, body or the entire child model in the
child model is specified, and all referencing elements outside the kinematic tree (e.g., sensors and actuators), are also copied into
the parent model. Additionally, any elements referenced from within the attached subtree (e.g. defaults and assets)
will be copied in to the parent model. :el:`attach` is a :ref:`meta-element`, so upon saving all attachments will
appear in the saved XML file. Note that this element is a subset of the functionality of the procedural
:ref:`attachment<meAttachment>` functionality. As such, it shares the same limitations as described there. See example `here
<https://github.com/google-deepmind/mujoco/blob/main/test/xml/testdata/parent.xml>`__.
The :el:`attach` element is used to insert elements from another (child) model, or from the current model itself
(self-attachment), into this (parent) model's kinematic tree. Unlike :ref:`include<include>`, which is implemented in
the parser and is equivalent to copying and pasting XML from one file into another, :el:`attach` is implemented in the
model compiler. In order to use this element to import from another model, the sub-model must first be defined as an
:ref:`asset<asset-model>`. When creating an attachment, a frame, body or the entire child model in the child model is
specified, and all referencing elements outside the kinematic tree (e.g., sensors and actuators), are also copied into
the parent model. Additionally, any elements referenced from within the attached subtree (e.g. defaults and assets) will
be copied in to the parent model. For self-attaching within the same model, the :at:`model` attribute is omitted, and a
body or frame must be specified. :el:`attach` is a :ref:`meta-element`, so upon saving all attachments will appear in
the saved XML file. Note that this element is a subset of the functionality of the procedural
:ref:`attachment<meAttachment>` functionality. As such, it shares the same limitations as described there. See example
`here <https://github.com/google-deepmind/mujoco/blob/main/test/xml/testdata/parent.xml>`__.
.. admonition:: Known issues
:class: note
@@ -4020,8 +4022,9 @@ appear in the saved XML file. Note that this element is a subset of the function
.. _body-attach-model:
:at:`model`: :at-val:`string, required`
:at:`model`: :at-val:`string, optional`
The child model from which to attach a subtree or a frame.
If omitted, the attachment is performed within the current model (self-attachment).
.. _body-attach-body: