Add mjs_findKeyframe.

PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5

doc/APIreference/functions.rst

@@ -4113,6 +4113,15 @@ mjs_findFrame
 
 Find frame by name.
 
+.. _mjs_findKeyframe:
+
+mjs_findKeyframe
+~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_findKeyframe
+
+Find keyframe by name.
+
 .. _mjs_getDefault:
 
 mjs_getDefault

doc/includes/references.h

@@ -3544,6 +3544,7 @@ mjsBody* mjs_findBody(mjSpec* s, const char* name);
 mjsBody* mjs_findChild(mjsBody* body, const char* name);
 mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
 mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
+mjsKey* mjs_findKeyframe(mjSpec* s, const char* name);
 mjsDefault* mjs_getDefault(mjsElement* element);
 mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
 mjsDefault* mjs_getSpecDefault(mjSpec* s);

include/mujoco/mujoco.h

@@ -1530,6 +1530,9 @@ MJAPI mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
 // Find frame by name.
 MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
 
+// Find keyframe by name.
+MJAPI mjsKey* mjs_findKeyframe(mjSpec* s, const char* name);
+
 // Get default corresponding to an element.
 MJAPI mjsDefault* mjs_getDefault(mjsElement* element);
 

introspect/functions.py

@@ -9703,6 +9703,28 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Find frame by name.',
      )),
+    ('mjs_findKeyframe',
+     FunctionDecl(
+         name='mjs_findKeyframe',
+         return_type=PointerType(
+             inner_type=ValueType(name='mjsKey'),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='s',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjSpec'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='name',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Find keyframe by name.',
+     )),
     ('mjs_getDefault',
      FunctionDecl(
          name='mjs_getDefault',

python/mujoco/specs.cc

@@ -144,6 +144,12 @@ PYBIND11_MODULE(_specs, m) {
         return mjs_findFrame(self.ptr, name.c_str());
       },
       py::return_value_policy::reference_internal);
+  mjSpec.def(
+      "find_keyframe",
+      [](MjSpec& self, std::string& name) -> raw::MjsKey* {
+        return mjs_findKeyframe(self.ptr, name.c_str());
+      },
+      py::return_value_policy::reference_internal);
   mjSpec.def(
       "find_default",
       [](MjSpec& self, std::string& classname) -> raw::MjsDefault* {

src/user/user_api.cc

@@ -530,6 +530,15 @@ mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
 
 
 
+// find keyframe by name
+mjsKey* mjs_findKeyframe(mjSpec* s, const char* name) {
+  mjCModel* model = static_cast<mjCModel*>(s->element);
+  mjCKey* key = (mjCKey*)model->FindObject(mjOBJ_KEY, std::string(name));
+  return key ? &(static_cast<mjCKey*>(key)->spec) : nullptr;
+}
+
+
+
 // set frame
 void mjs_setFrame(mjsElement* dest, mjsFrame* frame) {
   if (!frame) {

src/user/user_api.h

@@ -194,6 +194,9 @@ MJAPI mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
 // Find frame by name.
 MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
 
+// Find keyframe by name.
+MJAPI mjsKey* mjs_findKeyframe(mjSpec* s, const char* name);
+
 // Get default corresponding to an element.
 MJAPI mjsDefault* mjs_getDefault(mjsElement* element);