Add mjm_attachBody to the C API.

PiperOrigin-RevId: 617207000 Change-Id: I1fe59ba0d79938a4a383b115997c31dd6c71b8e5
2024-03-19 09:59:48 -07:00
parent 91192393a0
commit cc85a38f3c
9 changed files with 310 additions and 26 deletions
@@ -29,5 +29,10 @@ std::string mjWriteXML(mjSpec* model, char* error, int error_sz);
 // Main parser function
 MJAPI mjSpec* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);

+// Returns a newly-allocated mjSpec, loaded from the contents of xml.
+// On failure returns nullptr and populates the error array if present.
+MJAPI mjSpec* ParseSpecFromString(std::string_view xml, char* error = nullptr,
+                                  int error_size = 0, mjVFS* vfs = nullptr);
+

 #endif  // MUJOCO_SRC_XML_XML_H_