Replace name attribute with setters and getters in the C API of mjSpec.
PiperOrigin-RevId: 778816015 Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
This commit is contained in:
Alessio Quaglino
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Copybara-Service
Copybara-Service
parent
1c5d47c94b
commit
594e17074a
@@ -4228,6 +4228,15 @@ Return spec's next element; return NULL if element is last.
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Attribute setters
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^^^^^^^^^^^^^^^^^
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.. _mjs_setName:
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`mjs_setName <#mjs_setName>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjs_setName
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Set element's name.
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.. _mjs_setBuffer:
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`mjs_setBuffer <#mjs_setBuffer>`__
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@@ -4331,6 +4340,15 @@ Set plugin attributes.
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Attribute getters
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^^^^^^^^^^^^^^^^^
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.. _mjs_getName:
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`mjs_getName <#mjs_getName>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjs_getName
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Get element's name.
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.. _mjs_getString:
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`mjs_getString <#mjs_getString>`__
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@@ -1875,7 +1875,6 @@ typedef struct mjsPlugin_ { // plugin specification
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} mjsPlugin;
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typedef struct mjsBody_ { // body specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* childclass; // childclass name
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// body frame
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@@ -1901,7 +1900,6 @@ typedef struct mjsBody_ { // body specification
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} mjsBody;
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typedef struct mjsFrame_ { // frame specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* childclass; // childclass name
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double pos[3]; // position
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double quat[4]; // orientation
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@@ -1910,7 +1908,6 @@ typedef struct mjsFrame_ { // frame specification
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} mjsFrame;
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typedef struct mjsJoint_ { // joint specification
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mjsElement* element; // element type
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mjString* name; // name
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mjtJoint type; // joint type
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// kinematics
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@@ -1948,7 +1945,6 @@ typedef struct mjsJoint_ { // joint specification
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} mjsJoint;
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typedef struct mjsGeom_ { // geom specification
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mjsElement* element; // element type
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mjString* name; // name
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mjtGeom type; // geom type
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// frame, size
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@@ -1994,7 +1990,6 @@ typedef struct mjsGeom_ { // geom specification
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} mjsGeom;
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typedef struct mjsSite_ { // site specification
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mjsElement* element; // element type
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mjString* name; // name
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// frame, size
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double pos[3]; // position
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@@ -2015,7 +2010,6 @@ typedef struct mjsSite_ { // site specification
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} mjsSite;
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typedef struct mjsCamera_ { // camera specification
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mjsElement* element; // element type
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mjString* name; // name
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// extrinsics
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double pos[3]; // position
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@@ -2042,7 +2036,6 @@ typedef struct mjsCamera_ { // camera specification
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} mjsCamera;
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typedef struct mjsLight_ { // light specification
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mjsElement* element; // element type
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mjString* name; // name
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// frame
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double pos[3]; // position
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@@ -2070,7 +2063,6 @@ typedef struct mjsLight_ { // light specification
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} mjsLight;
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typedef struct mjsFlex_ { // flex specification
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mjsElement* element; // element type
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mjString* name; // name
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// contact properties
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int contype; // contact type
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@@ -2117,7 +2109,6 @@ typedef struct mjsFlex_ { // flex specification
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} mjsFlex;
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typedef struct mjsMesh_ { // mesh specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* content_type; // content type of file
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mjString* file; // mesh file
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double refpos[3]; // reference position
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@@ -2136,7 +2127,6 @@ typedef struct mjsMesh_ { // mesh specification
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} mjsMesh;
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typedef struct mjsHField_ { // height field specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* content_type; // content type of file
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mjString* file; // file: (nrow, ncol, [elevation data])
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double size[4]; // hfield size (ignore referencing geom size)
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@@ -2147,7 +2137,6 @@ typedef struct mjsHField_ { // height field specification
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} mjsHField;
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typedef struct mjsSkin_ { // skin specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* file; // skin file
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mjString* material; // name of material used for rendering
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float rgba[4]; // rgba when material is omitted
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@@ -2171,7 +2160,6 @@ typedef struct mjsSkin_ { // skin specification
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} mjsSkin;
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typedef struct mjsTexture_ { // texture specification
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mjsElement* element; // element type
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mjString* name; // name
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mjtTexture type; // texture type
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mjtColorSpace colorspace; // colorspace
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@@ -2207,7 +2195,6 @@ typedef struct mjsTexture_ { // texture specification
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} mjsTexture;
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typedef struct mjsMaterial_ { // material specification
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mjsElement* element; // element type
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mjString* name; // name
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mjStringVec* textures; // names of textures (empty: none)
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mjtByte texuniform; // make texture cube uniform
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float texrepeat[2]; // texture repetition for 2D mapping
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@@ -2222,7 +2209,6 @@ typedef struct mjsMaterial_ { // material specification
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} mjsMaterial;
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typedef struct mjsPair_ { // pair specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* geomname1; // name of geom 1
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mjString* geomname2; // name of geom 2
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@@ -2238,14 +2224,12 @@ typedef struct mjsPair_ { // pair specification
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} mjsPair;
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typedef struct mjsExclude_ { // exclude specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* bodyname1; // name of geom 1
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mjString* bodyname2; // name of geom 2
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mjString* info; // message appended to errors
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} mjsExclude;
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typedef struct mjsEquality_ { // equality specification
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mjsElement* element; // element type
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mjString* name; // name
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mjtEq type; // constraint type
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double data[mjNEQDATA]; // type-dependent data
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mjtByte active; // is equality initially active
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@@ -2258,7 +2242,6 @@ typedef struct mjsEquality_ { // equality specification
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} mjsEquality;
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typedef struct mjsTendon_ { // tendon specification
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mjsElement* element; // element type
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mjString* name; // name
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// stiffness, damping, friction, armature
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double stiffness; // stiffness coefficient
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@@ -2294,7 +2277,6 @@ typedef struct mjsWrap_ { // wrapping object specification
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} mjsWrap;
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typedef struct mjsActuator_ { // actuator specification
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mjsElement* element; // element type
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mjString* name; // name
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// gain, bias
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mjtGain gaintype; // gain type
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@@ -2334,7 +2316,6 @@ typedef struct mjsActuator_ { // actuator specification
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} mjsActuator;
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typedef struct mjsSensor_ { // sensor specification
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mjsElement* element; // element type
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mjString* name; // name
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// sensor definition
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mjtSensor type; // type of sensor
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@@ -2359,20 +2340,17 @@ typedef struct mjsSensor_ { // sensor specification
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} mjsSensor;
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typedef struct mjsNumeric_ { // custom numeric field specification
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mjsElement* element; // element type
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mjString* name; // name
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mjDoubleVec* data; // initialization data
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int size; // array size, can be bigger than data size
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mjString* info; // message appended to compiler errors
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} mjsNumeric;
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typedef struct mjsText_ { // custom text specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* data; // text string
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mjString* info; // message appended to compiler errors
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} mjsText;
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typedef struct mjsTuple_ { // tuple specification
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mjsElement* element; // element type
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mjString* name; // name
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mjIntVec* objtype; // object types
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mjStringVec* objname; // object names
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mjDoubleVec* objprm; // object parameters
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@@ -2380,7 +2358,6 @@ typedef struct mjsTuple_ { // tuple specification
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} mjsTuple;
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typedef struct mjsKey_ { // keyframe specification
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mjsElement* element; // element type
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mjString* name; // name
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double time; // time
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mjDoubleVec* qpos; // qpos
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mjDoubleVec* qvel; // qvel
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@@ -2392,7 +2369,6 @@ typedef struct mjsKey_ { // keyframe specification
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} mjsKey;
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typedef struct mjsDefault_ { // default specification
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mjsElement* element; // element type
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mjString* name; // class name
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mjsJoint* joint; // joint defaults
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mjsGeom* geom; // geom defaults
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mjsSite* site; // site defaults
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@@ -3480,6 +3456,7 @@ mjsElement* mjs_firstChild(mjsBody* body, mjtObj type, int recurse);
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mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child, int recurse);
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mjsElement* mjs_firstElement(mjSpec* s, mjtObj type);
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mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element);
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void mjs_setName(mjsElement* element, const char* name);
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void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
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void mjs_setString(mjString* dest, const char* text);
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void mjs_setStringVec(mjStringVec* dest, const char* text);
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@@ -3491,6 +3468,7 @@ void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
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void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
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void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
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void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
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mjString* mjs_getName(mjsElement* element);
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const char* mjs_getString(const mjString* source);
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const double* mjs_getDouble(const mjDoubleVec* source, int* size);
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const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
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