Rename detach_default and detach_body to delete in the mjSpec bindings.

PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78

doc/python.rst

@@ -603,11 +603,10 @@ Lists of all elements in a spec can be accessed using named properties, using th
 
 Element removal
 ^^^^^^^^^^^^^^^
-For elements that can have children (bodies and defaults), the methods ``spec.detach_body(body)`` and
-``spec.detach_default(def)`` remove, respectively, ``body`` and ``def`` from the spec, together with all of their
-children. When detaching body subtrees, all elements which reference elements in the subtree, will also be removed. For
-all other elements, the method ``delete()`` removes the corresponding element from the spec, e.g.
-``spec.delete(spec.geom('my_geom'))`` will remove the geom named "my_geom" and all of the elements that reference it.
+The method ``delete()`` removes the corresponding element from the spec, e.g. ``spec.delete(spec.geom('my_geom'))`` will
+remove the geom named "my_geom" and all of the elements that reference it. For elements that can have children (bodies
+and defaults), ``delete`` removes also all of their children. When detaching body subtrees, all elements which reference
+elements in the subtree, will also be removed.
 
 Tree traversal
 ^^^^^^^^^^^^^^

python/mjspec.ipynb

@@ -1827,7 +1827,7 @@
     "\n",
     "# Remove all bodies in the list from the spec\n",
     "for body in delete_list:\n",
-    "  spec.detach_body(body)\n",
+    "  spec.delete(body)\n",
     "\n",
     "# # Add another humanoid\n",
     "spec_humanoid = mj.MjSpec.from_file(humanoid_file)\n",
@@ -1900,8 +1900,8 @@
     "shoulder_right = torso.add_frame(pos=arm_right.pos)\n",
     "\n",
     "# Remove the arms\n",
-    "spec.detach_body(arm_left)\n",
-    "spec.detach_body(arm_right)\n",
+    "spec.delete(arm_left)\n",
+    "spec.delete(arm_right)\n",
     "\n",
     "# Add new legs\n",
     "shoulder_left.attach_body(leg_left, 'shoulder', 'left')\n",
@@ -1942,7 +1942,7 @@
     "arm_right = spec.body('upper_arm_right')\n",
     "torso = spec.body('torso')\n",
     "shoulder_right = torso.add_frame(pos=arm_right.pos, quat=[0, 0.8509035, 0, 0.525322])\n",
-    "spec.detach_body(arm_right)\n",
+    "spec.delete(arm_right)\n",
     "\n",
     "# Attach Franka arm to humanoid\n",
     "franka_arm = franka.body('fr3_link2')\n",

python/mujoco/specs.cc

@@ -396,7 +396,7 @@ PYBIND11_MODULE(_specs, m) {
         return mjs_addDefault(spec->ptr, classname.c_str(), parent);
       },
       py::return_value_policy::reference_internal);
-  mjSpec.def("detach_default", [](MjSpec& self, raw::MjsDefault& def) {
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsDefault& def) {
     if (mjs_delete(self.ptr, def.element) != 0) {
       throw pybind11::value_error(mjs_getError(self.ptr));
     }
@@ -407,7 +407,7 @@ PYBIND11_MODULE(_specs, m) {
         return mjs_getSpecDefault(self.ptr);
       },
       py::return_value_policy::reference_internal);
-  mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
+  mjSpec.def("delete", [](MjSpec& self, raw::MjsBody& body) {
     mjs_delete(self.ptr, body.element);
   });
   mjSpec.def(

python/mujoco/specs_test.py

@@ -604,7 +604,7 @@ class SpecsTest(absltest.TestCase):
 
     # test delete default
     def1 = spec.find_default('def1')
-    spec.detach_default(def1)
+    spec.delete(def1)
     def1 = spec.find_default('def1')
     self.assertIsNone(def1)