Add site semantics to weld constraint. Fixes #1896

PiperOrigin-RevId: 675112981 Change-Id: I435da874097f1b0399af25f0da6841826706fd4d
google-deepmind · Sep 16, 2024 · b3df0f5 · b3df0f5
1 parent afa4ccf
commit b3df0f5
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
@@ -1862,6 +1862,8 @@
             <attribute name="body2" type="reference" reference_namespace="body"/>
             <attribute name="relpose" type="array" array_type="float" array_size="7"/>
             <attribute name="anchor" type="array" array_type="float" array_size="3"/>
+            <attribute name="site1" type="reference" reference_namespace="site"/>
+            <attribute name="site2" type="reference" reference_namespace="site"/>
             <attribute name="torquescale" type="float"/>
           </attributes>
         </element>