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
26 lines
683 B
XML
26 lines
683 B
XML
<mujoco>
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<asset>
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<model name="other" file="child.xml"/>
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</asset>
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<worldbody>
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<!-- attach body to body -->
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<body name="parent">
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<geom name="geom" size="1" pos="0 0 2"/>
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<attach model="other" body="body" prefix="other1"/>
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</body>
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<!-- attach frame to body (world) -->
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<attach model="other" frame="frame" prefix="other2"/>
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<!-- attach frame to frame -->
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<frame name="top" pos="0 0 4">
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<attach model="other" frame="frame" prefix="other3"/>
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</frame>
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<!-- attach body to frame -->
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<frame name="bottom-right" pos="2 0 -1">
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<attach model="other" body="body" prefix="other4"/>
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</frame>
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</worldbody>
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</mujoco>
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