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Allow "body" attribute in actuator/plugin. #2760

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Allow "body" attribute in actuator/plugin. #2760

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4 changes: 3 additions & 1 deletion doc/XMLreference.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -6110,10 +6110,12 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug

.. _actuator-plugin-actearly:

.. _actuator-plugin-body:

.. |actuator/plugin attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`actlimited`, :at:`ctrllimited`,
:at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`,
:at:`joint`, :at:`jointinparent`, :at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`,
:at:`actdim`, :at:`dynprm`, :at:`actearly`
:at:`actdim`, :at:`dynprm`, :at:`actearly`, :at:`body`

|actuator/plugin attrib list|
Same as in actuator/ :ref:`general <actuator-general>`.
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4 changes: 2 additions & 2 deletions src/xml/xml_native_reader.cc
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Expand Up @@ -431,11 +431,11 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "*", "9", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
{"plugin", "*", "25", "name", "class", "plugin", "instance", "group",
{"plugin", "*", "26", "name", "class", "plugin", "instance", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "joint", "jointinparent",
"site", "actdim", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user",
"actearly"},
"actearly", "body"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
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