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Allow to attach an entire mjSpec in mjs_attach.

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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
This commit is contained in:
Alessio Quaglino
2025-04-01 09:50:42 -07:00
committed by Copybara-Service
parent e5912c3ce4
commit b839fe79e1
4 changed files with 63 additions and 42 deletions
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doc/XMLreference.rst
+3 -2
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@@ -3716,8 +3716,9 @@ all attachments will appear in the saved XML file.
.. _body-attach-body:
:at:`body`: :at-val:`string, required`
Name of the body in the sub-model to attach here. The body and its subtree will be attached.
:at:`body`: :at-val:`string, optional`
Name of the body in the sub-model to attach here. The body and its subtree will be attached. If this attribute is not
specified, the contents of the world body will be attached in a new :ref:`frame<body-frame>`.
.. _body-attach-prefix: