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A ModelPlugin can't be attached to a <joint>; it must be attached to the <model>. Perhaps you can add a parameter to your <plugin> that takes the name of the joint to use for the motor?

A ModelPlugin can't be attached to a <joint>; it must be attached to the <model>. Perhaps you can add a parameter to your <plugin> that takes the name of the joint to use for the motor?

I realize that the tutorial you referenced is wrong. I'll create an issue about fixing it.

A ModelPlugin can't be attached to a <joint>; it must be attached to the <model>. Perhaps you can add a parameter to your <plugin> that takes the name of the joint to use for the motor?

I realize that the tutorial you referenced is wrong. I'll create I've created an issue about fixing it.the tutorial.