add mjs_detachDefault to delete a default class from mjSpec

PiperOrigin-RevId: 738452369 Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:30:08 -07:00
parent a1b9ffd124
commit be64747166
18 changed files with 261 additions and 24 deletions
@@ -704,3 +704,8 @@ to the inputs. Below, :math:`\bar q` denotes the pre-modified quaternion:

 Note that derivatives depend only on :math:`h` and :math:`v` (in fact, on :math:`s = h v`).
 All outputs are optional.
+
+.. _mjs_delete:
+
+Delete object corresponding to the given element, return 0 on success. This function should only be used for element
+types that cannot have children, i.e. excluding bodies and default classes.