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Improve mjSpec documentation. Fixes #2074.

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PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
This commit is contained in:
Yuval Tassa
2024-11-01 12:05:26 -07:00
committed by Copybara-Service
parent a51f346059
commit b6037d1759
4 changed files with 196 additions and 71 deletions
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doc/modeling.rst
+13 -13
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@@ -136,21 +136,21 @@ the model. We start with an example.
.. code-block:: xml
<mujoco>
<default class="main">
<geom rgba="1 0 0 1"/>
<default class="sub">
<geom rgba="0 1 0 1"/>
</default>
<default class="main">
<geom rgba="1 0 0 1"/>
<default class="sub">
<geom rgba="0 1 0 1"/>
</default>
</default>
<worldbody>
<geom type="box"/>
<body childclass="sub">
<geom type="ellipsoid"/>
<geom type="sphere" rgba="0 0 1 1"/>
<geom type="cylinder" class="main"/>
</body>
</worldbody>
<worldbody>
<geom type="box"/>
<body childclass="sub">
<geom type="ellipsoid"/>
<geom type="sphere" rgba="0 0 1 1"/>
<geom type="cylinder" class="main"/>
</body>
</worldbody>
</mujoco>
This example will not actually compile because some required information is missing, but here we are only interested