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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/programming/modeledit.rst
+15 -14
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@@ -111,9 +111,10 @@ This framework introduces a powerful new feature: attaching and detaching model
to power the :ref:`attach<body-attach>` an :ref:`replicate<replicate>` meta-elements in MJCF. Attachment allows the user
to move or copy a subtree from one model into another, while also copying or moving related referenced assets and
referencing elements from outside the kinematic tree (e.g., actuators and sensors). Similarly, detaching a subtree will
remove all associated elements from the model. The default behavior is to move during attach. The user can select to
instead copy by passing the corresponding flag to ``mjs_setDeepCopy``. This flag is temporary set to true while parsing
XMLs. It is possible to :ref:`attach a body to a frame<mjs_attachBody>`:
remove all associated elements from the model. The default behavior is to move the child into the parent while
attaching, so subsequent changes to the child will also change the parent. Alternatively, the user can choose to make an
entirely new copy during attach using :ref:`mjs_setDeepCopy`. This flag is temporarily set to true while parsing XMLs.
It is possible to :ref:`attach a body to a frame<mjs_attach>`:
.. code-block:: C
@@ -121,29 +122,29 @@ XMLs. It is possible to :ref:`attach a body to a frame<mjs_attachBody>`:
mjSpec* child = mj_makeSpec();
parent->compiler.degree = 0;
child->compiler.degree = 1;
mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), NULL);
mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), NULL);
mjsBody* attached_body_1 = mjs_attachBody(frame, body, "attached-", "-1");
mjsElement* frame = mjs_addFrame(mjs_findBody(parent, "world"), NULL)->element;
mjsElement* body = mjs_addBody(mjs_findBody(child, "world"), NULL)->element;
mjsBody* attached_body_1 = mjs_asBody(mjs_attach(frame, body, "attached-", "-1"));
or :ref:`attach a body to a site<mjs_attachToSite>`:
or :ref:`attach a body to a site<mjs_attach>`:
.. code-block:: C
mjSpec* parent = mj_makeSpec();
mjSpec* child = mj_makeSpec();
mjsSite* site = mjs_addSite(mjs_findBody(parent, "world"), NULL);
mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), NULL);
mjsBody* attached_body_2 = mjs_attachToSite(site, body, "attached-", "-2");
mjsElement* site = mjs_addSite(mjs_findBody(parent, "world"), NULL)->element;
mjsElement* body = mjs_addBody(mjs_findBody(child, "world"), NULL)->element;
mjsBody* attached_body_2 = mjs_asBody(mjs_attach(site, body, "attached-", "-2"));
or :ref:`attach a frame to a body<mjs_attachFrame>`:
or :ref:`attach a frame to a body<mjs_attach>`:
.. code-block:: C
mjSpec* parent = mj_makeSpec();
mjSpec* child = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(parent, "world"), NULL);
mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), NULL);
mjsFrame* attached_frame = mjs_attachFrame(body, frame, "attached-", "-1");
mjsElement* body = mjs_addBody(mjs_findBody(parent, "world"), NULL)->element;
mjsElement* frame = mjs_addFrame(mjs_findBody(child, "world"), NULL)->element;
mjsFrame* attached_frame = mjs_asFrame(mjs_attach(body, frame, "attached-", "-1"));
Note that in the above examples, the parent and child models have different values for ``compiler.degree``,
corresponding to the :ref:`compiler/angle<compiler-angle>` attribute, specifying the units in which angles are