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Return attached body/frame in mjs_attachBody/Frame.

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PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
This commit is contained in:
Alessio Quaglino
2024-09-27 08:32:52 -07:00
committed by Copybara-Service
parent 176345b4e1
commit 25e4d75a07
11 changed files with 67 additions and 45 deletions
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doc/APIreference/functions.rst
+2 -2
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@@ -3793,7 +3793,7 @@ mjs_attachBody
.. mujoco-include:: mjs_attachBody
Attach child body to a parent frame, return 0 on success.
Attach child body to a parent frame, return the attached body if success or NULL otherwise.
.. _mjs_attachFrame:
@@ -3802,7 +3802,7 @@ mjs_attachFrame
.. mujoco-include:: mjs_attachFrame
Attach child frame to a parent body, return 0 on success.
Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
.. _mjs_detachBody:
doc/includes/references.h
+4 -4
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@@ -3550,10 +3550,10 @@ void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);
void mju_threadPoolDestroy(mjThreadPool* thread_pool);
void mju_defaultTask(mjTask* task);
void mju_taskJoin(mjTask* task);
int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
int mjs_detachBody(mjSpec* s, mjsBody* b);
mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
mjsSite* mjs_addSite(mjsBody* body, mjsDefault* def);