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Combine all mjs_attach functions into one.

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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
This commit is contained in:
Alessio Quaglino
2025-04-01 08:04:58 -07:00
committed by Copybara-Service
parent 08d22baea1
commit a02a27d4a4
13 changed files with 202 additions and 319 deletions
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doc/XMLreference.rst
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@@ -175,11 +175,10 @@ replicating 200 times, suffixes will be ``000, 001, ...`` etc). All referencing
and namespaced appropriately. Detailed examples of models using replicate can be found in the
`model/replicate/ <https://github.com/google-deepmind/mujoco/tree/main/model/replicate>`__ directory.
There is a caveat concerning :ref:`keyframes<keyframe>` when using replicate. Since :ref:`mjs_attachFrame` is used to
There is a caveat concerning :ref:`keyframes<keyframe>` when using replicate. Since :ref:`mjs_attach` is used to
self-attach multiple times the enclosed kinematic tree, if this tree contains further :ref:`attach<body-attach>`
elements, keyframes will not be replicated nor namespaced by :ref:`replicate<replicate>`, but they will be attached and
namespaced once by the innermost call of :ref:`mjs_attachFrame` or :ref:`mjs_attachBody`. See the limitations discussed
in :ref:`attach<body-attach>`.
namespaced once by the innermost call of :ref:`mjs_attach`. See the limitations discussed in :ref:`attach<body-attach>`.
.. _replicate-count: