Yuval Tassa
c6c3ec3149
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
19 lines
482 B
XML
19 lines
482 B
XML
<mujoco model="child">
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<worldbody>
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<body name="body">
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<geom name="geom" size="1" pos="0 0 -2" rgba="1 0 0 1"/>
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</body>
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<frame name="frame">
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<body name="body2" pos="-1 0 0">
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<freejoint/>
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<geom name="geom2" type="box" size="1 1 1" rgba="0 1 0 1"/>
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</body>
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<body name="body3" pos="1 0 0">
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<freejoint/>
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<geom name="geom3" type="box" size="1 1 1" rgba="0 1 0 1"/>
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</body>
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</frame>
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</worldbody>
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</mujoco>
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