Yuval Tassa c6c3ec3149 Add "frame" attribute to <attach> element. ...

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

2026-07-01 12:49:55 -07:00

..

_static

Add backlinks from tech note to dcmotor docs.

2026-05-05 02:38:38 -07:00

APIreference

Add special case support for MJB and TXT files to mj_encode.

2026-06-29 09:32:50 -07:00

computation

CG solver: Replace PRP+ with Hager-Zhang update

2026-06-08 08:54:07 -07:00

css

Prevent visited docs links from changing color.

2026-05-20 07:48:24 -07:00

dcmotor

Add backlinks from tech note to dcmotor docs.

2026-05-05 02:38:38 -07:00

ext

Tag nullable arguments in main header. Fixes #309

2025-07-31 08:39:16 -07:00

images

Update colors and legend in margin/gap figure.

2026-05-13 07:43:41 -07:00

includes

Change mj_encode return type to 64-bit (mjtSize)

2026-06-29 07:41:52 -07:00

js

Add source code links in docs for remaining API functions.

2024-11-03 11:09:56 -08:00

mjwarp

MuJoCo Warp documentation: Large scenes

2026-06-30 12:14:48 -07:00

OpenUSD

Move OpenUSD parsing to usd_decoder

2026-01-09 14:48:29 -08:00

programming

Move mjrfilament.h to mujoco/include.

2026-06-19 08:01:05 -07:00

templates

Fix documentation typos.

2025-01-27 10:58:22 -08:00

changelog.rst

Add special case support for MJB and TXT files to mj_encode.

2026-06-29 09:32:50 -07:00

conf.py

Prevent visited docs links from changing color.

2026-05-20 07:48:24 -07:00

docutils.conf

Updates for documentation.

2025-07-03 06:35:11 -07:00

index.rst

MuJoCo Warp documentation.

2025-09-16 07:56:41 -07:00

make_mujoco_stubs.py

Merge pull request #3243 from thowell:readthedocs

2026-05-11 03:54:33 -07:00

Makefile

build(makefile): .PHONY targets are cumulative

2022-09-26 10:48:00 -04:00

mjx_api.rst

MJX API documentation: add Any to exclude-members

2026-02-23 02:24:06 -08:00

mjx.rst

MJX documentation: update feature parity section

2026-05-26 07:23:24 -07:00

modeling.rst

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -07:00

models.rst

Add Human-700 to model gallery

2026-04-16 09:02:08 -07:00

overview.rst

Update docs to correctly reference mjtype.h

2026-05-21 08:44:11 -07:00

python.rst

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

references.bib

Cite Vaxenburg et al. in fluid force documentation.

2024-03-15 06:57:49 -07:00

requirements.txt

Bump doc deps and restrict lint workflow permissions

2026-06-11 17:51:08 -07:00

unity.rst

Update MuJoCo version to 3.10.1 following the 3.10.0 release

2026-06-22 07:25:02 -07:00

XMLreference.rst

Add "frame" attribute to <attach> element.

2026-07-01 12:49:55 -07:00

XMLschema.rst

Add "frame" attribute to <attach> element.

2026-07-01 12:49:55 -07:00