Alessio Quaglino
6e64dd10e8
The function was interpreting that the elements that were expected to be detached contained useful user errors, and therefore it was not detaching them. Also, the function tried to compare the namespace between two models, but the namespace is already fused in the references at detach time. PiperOrigin-RevId: 651738364 Change-Id: Ifdaa9bd5b658bfd18b544b7138a5c2c56b66e936
29 lines
620 B
XML
29 lines
620 B
XML
<mujoco>
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<compiler>
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<lengthrange mode="all"/>
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</compiler>
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<worldbody>
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<light pos="0 0 10"/>
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<site name="a" size=".02"/>
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<replicate offset="0 .1 0" count="17">
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<body pos="1 0 1">
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<joint axis="0 -1 0" range="0 90"/>
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<geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
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<site name="b" pos="0 0 -1"/>
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</body>
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</replicate>
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</worldbody>
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<tendon>
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<spatial name="b">
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<site site="a"/>
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<site site="b"/>
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</spatial>
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</tendon>
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<actuator>
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<position name="b" tendon="b" ctrlrange="0 3" kp="100" dampratio="1"/>
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</actuator>
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</mujoco>
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