Add mjs_attachToSite for attaching a body to a site.

PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c

doc/APIreference/functions.rst

@@ -3813,6 +3813,15 @@ mjs_attachFrame
 
 Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
 
+.. _mjs_attachToSite:
+
+mjs_attachToSite
+~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_attachToSite
+
+Attach child body to a parent site, return the attached body if success or NULL otherwise.
+
 .. _mjs_detachBody:
 
 mjs_detachBody
@@ -4126,15 +4135,6 @@ mjs_getSpec
 
 Get spec from body.
 
-.. _mjs_getSpecFromFrame:
-
-mjs_getSpecFromFrame
-~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getSpecFromFrame
-
-Get spec from frame.
-
 .. _mjs_findBody:
 
 mjs_findBody

doc/includes/references.h

@@ -3564,6 +3564,8 @@ mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
                         const char* prefix, const char* suffix);
 mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
                           const char* prefix, const char* suffix);
+mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
+                          const char* prefix, const char* suffix);
 int mjs_detachBody(mjSpec* s, mjsBody* b);
 mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
 mjsSite* mjs_addSite(mjsBody* body, mjsDefault* def);
@@ -3596,8 +3598,7 @@ mjsHField* mjs_addHField(mjSpec* s);
 mjsSkin* mjs_addSkin(mjSpec* s);
 mjsTexture* mjs_addTexture(mjSpec* s);
 mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
-mjSpec* mjs_getSpec(mjsBody* body);
-mjSpec* mjs_getSpecFromFrame(mjsFrame* frame);
+mjSpec* mjs_getSpec(mjsElement* element);
 mjsBody* mjs_findBody(mjSpec* s, const char* name);
 mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name);
 mjsBody* mjs_findChild(mjsBody* body, const char* name);