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Allow to attach an entire mjSpec in mjs_attach.

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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
This commit is contained in:
Alessio Quaglino
2025-04-01 09:50:42 -07:00
committed by Copybara-Service
parent e5912c3ce4
commit b839fe79e1
4 changed files with 63 additions and 42 deletions
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src/xml/xml_native_reader.cc
+14 -8
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@@ -3627,27 +3627,33 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
else if (name == "attach") {
string model_name, body_name, prefix;
ReadAttrTxt(elem, "model", model_name, /*required=*/true);
ReadAttrTxt(elem, "body", body_name, /*required=*/true);
ReadAttrTxt(elem, "body", body_name, /*required=*/false);
ReadAttrTxt(elem, "prefix", prefix, /*required=*/true);
mjsBody* child = mjs_findBody(spec, (prefix+body_name).c_str());
mjsBody* child_body = mjs_findBody(spec, (prefix+body_name).c_str());
mjsFrame* pframe = frame ? frame : mjs_addFrame(body, nullptr);
if (!child) {
if (!child_body) {
mjSpec* asset = mjs_findSpec(spec, model_name.c_str());
if (!asset) {
throw mjXError(elem, "could not find model '%s'", model_name.c_str());
}
child = mjs_findBody(asset, body_name.c_str());
if (!child) {
throw mjXError(elem, "could not find body '%s''%s'", body_name.c_str());
mjsElement* child;
if (body_name.empty()) {
child = asset->element;
} else {
child_body = mjs_findBody(asset, body_name.c_str());
if (!child_body) {
throw mjXError(elem, "could not find body '%s''%s'", body_name.c_str());
}
child = child_body->element;
}
if (!mjs_attach(pframe->element, child->element, prefix.c_str(), "")) {
if (!mjs_attach(pframe->element, child, prefix.c_str(), "")) {
throw mjXError(elem, mjs_getError(spec));
}
} else {
// only set frame to existing body
if (mjs_setFrame(child->element, pframe)) {
if (mjs_setFrame(child_body->element, pframe)) {
throw mjXError(elem, mjs_getError(spec));
}
}