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Add "frame" attribute to <attach> element.

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The `<attach>` element now supports a "frame" attribute, allowing users to specify either a "body" or a "frame" to attach to, but not both. The XML parser has been updated to handle this new attribute and the mutual exclusivity constraint.

PiperOrigin-RevId: 941245904
Change-Id: I4c0edeed5f3a9e456aed96c373b1647fe79841d9
This commit is contained in:
Yuval Tassa
2026-07-01 12:49:01 -07:00
committed by Copybara-Service
parent 1f6cf4035c
commit c6c3ec3149
5 changed files with 77 additions and 27 deletions
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src/xml/xml_native_reader.cc
+17 -12
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@@ -470,7 +470,7 @@ std::vector<const char*> MJCF[nMJCF] = {
{"config", "*", "key", "value"},
{">"},
{">"},
{"attach", "*", "model", "body", "prefix"},
{"attach", "*", "model", "body", "frame", "prefix"},
{"site", "*", "name", "class", "type", "group", "pos", "quat", "material",
"size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "*", "name", "class", "projection",
@@ -4170,35 +4170,40 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// attachment
else if (name == "attach") {
string model_name, body_name, prefix;
string model_name, child_name, prefix;
ReadAttrTxt(elem, "model", model_name, /*required=*/true);
ReadAttrTxt(elem, "body", body_name, /*required=*/false);
bool has_body = ReadAttrTxt(elem, "body", child_name, /*required=*/false);
bool has_frame = ReadAttrTxt(elem, "frame", child_name, /*required=*/false);
ReadAttrTxt(elem, "prefix", prefix, /*required=*/true);
mjsBody* child_body = mjs_findBody(spec, (prefix+body_name).c_str());
if (has_body && has_frame) {
throw mjXError(elem, "only one of body or frame can be specified in attach");
}
mjtObj type = has_body ? mjOBJ_BODY : mjOBJ_FRAME;
mjsElement* child = mjs_findElement(spec, type, (prefix+child_name).c_str());
mjsFrame* pframe = frame ? frame : mjs_addFrame(body, nullptr);
if (!child_body) {
if (!child) {
mjSpec* asset = mjs_findSpec(spec, model_name.c_str());
if (!asset) {
throw mjXError(elem, "could not find model '%s'", model_name.c_str());
}
mjsElement* child;
if (body_name.empty()) {
if (child_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 = mjs_findElement(asset, type, child_name.c_str());
if (!child) {
throw mjXError(elem, "could not find %s",
(string(mju_type2Str(type)) + " '" + child_name + "'").c_str());
}
child = child_body->element;
}
if (!mjs_attach(pframe->element, child, prefix.c_str(), "")) {
throw mjXError(elem, "%s", stripError(mjs_getError(spec)));
}
} else {
// only set frame to existing body
if (mjs_setFrame(child_body->element, pframe)) {
if (mjs_setFrame(child, pframe)) {
throw mjXError(elem, "%s", stripError(mjs_getError(spec)));
}
}