Add non-tree element lists to python bindings.
Fixes #1752. PiperOrigin-RevId: 649405039 Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
d831153401
commit
a0945e4b5a
@@ -4176,6 +4176,24 @@ mjs_nextChild
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Return body's next child of the same type; return NULL if child is last.
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.. _mjs_firstElement:
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mjs_firstElement
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~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjs_firstElement
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Return spec's first element of selected type.
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.. _mjs_nextElement:
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mjs_nextElement
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~~~~~~~~~~~~~~~
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.. mujoco-include:: mjs_nextElement
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Return spec's next element; return NULL if element is last.
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.. _mjs_asBody:
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mjs_asBody
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@@ -4239,6 +4257,150 @@ mjs_asFrame
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Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
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.. _mjs_asActuator:
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mjs_asActuator
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~~~~~~~~~~~~~~
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.. mujoco-include:: mjs_asActuator
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Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
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.. _mjs_asSensor:
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mjs_asSensor
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~~~~~~~~~~~~
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.. mujoco-include:: mjs_asSensor
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Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
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.. _mjs_asFlex:
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mjs_asFlex
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~~~~~~~~~~
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.. mujoco-include:: mjs_asFlex
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Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
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.. _mjs_asPair:
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mjs_asPair
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~~~~~~~~~~
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.. mujoco-include:: mjs_asPair
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Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
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.. _mjs_asEquality:
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mjs_asEquality
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~~~~~~~~~~~~~~
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.. mujoco-include:: mjs_asEquality
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Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
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.. _mjs_asExclude:
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mjs_asExclude
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~~~~~~~~~~~~~
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.. mujoco-include:: mjs_asExclude
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Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
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.. _mjs_asTendon:
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mjs_asTendon
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~~~~~~~~~~~~
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.. mujoco-include:: mjs_asTendon
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Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
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.. _mjs_asNumeric:
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mjs_asNumeric
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~~~~~~~~~~~~~
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.. mujoco-include:: mjs_asNumeric
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Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
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.. _mjs_asText:
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mjs_asText
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~~~~~~~~~~
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.. mujoco-include:: mjs_asText
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Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
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.. _mjs_asTuple:
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mjs_asTuple
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~~~~~~~~~~~
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.. mujoco-include:: mjs_asTuple
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Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
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.. _mjs_asKey:
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mjs_asKey
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~~~~~~~~~
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.. mujoco-include:: mjs_asKey
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Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
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.. _mjs_asMesh:
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mjs_asMesh
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~~~~~~~~~~
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.. mujoco-include:: mjs_asMesh
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Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
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.. _mjs_asHField:
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mjs_asHField
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~~~~~~~~~~~~
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.. mujoco-include:: mjs_asHField
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Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
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.. _mjs_asSkin:
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mjs_asSkin
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~~~~~~~~~~
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.. mujoco-include:: mjs_asSkin
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Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
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.. _mjs_asTexture:
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mjs_asTexture
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~~~~~~~~~~~~~
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.. mujoco-include:: mjs_asTexture
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Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
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.. _mjs_asMaterial:
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mjs_asMaterial
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~~~~~~~~~~~~~~
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.. mujoco-include:: mjs_asMaterial
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Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
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.. _AttributeSetters:
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Attribute setters
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@@ -3551,6 +3551,8 @@ mjsDefault* mjs_getSpecDefault(mjSpec* s);
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int mjs_getId(mjsElement* element);
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mjsElement* mjs_firstChild(mjsBody* body, mjtObj type);
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mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child);
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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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mjsBody* mjs_asBody(mjsElement* element);
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mjsGeom* mjs_asGeom(mjsElement* element);
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mjsJoint* mjs_asJoint(mjsElement* element);
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@@ -3558,6 +3560,22 @@ mjsSite* mjs_asSite(mjsElement* element);
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mjsCamera* mjs_asCamera(mjsElement* element);
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mjsLight* mjs_asLight(mjsElement* element);
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mjsFrame* mjs_asFrame(mjsElement* element);
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mjsActuator* mjs_asActuator(mjsElement* element);
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mjsSensor* mjs_asSensor(mjsElement* element);
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mjsFlex* mjs_asFlex(mjsElement* element);
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mjsPair* mjs_asPair(mjsElement* element);
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mjsEquality* mjs_asEquality(mjsElement* element);
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mjsExclude* mjs_asExclude(mjsElement* element);
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mjsTendon* mjs_asTendon(mjsElement* element);
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mjsNumeric* mjs_asNumeric(mjsElement* element);
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mjsText* mjs_asText(mjsElement* element);
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mjsTuple* mjs_asTuple(mjsElement* element);
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mjsKey* mjs_asKey(mjsElement* element);
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mjsMesh* mjs_asMesh(mjsElement* element);
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mjsHField* mjs_asHField(mjsElement* element);
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mjsSkin* mjs_asSkin(mjsElement* element);
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mjsTexture* mjs_asTexture(mjsElement* element);
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mjsMaterial* mjs_asMaterial(mjsElement* element);
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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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mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
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@@ -1551,6 +1551,12 @@ MJAPI mjsElement* mjs_firstChild(mjsBody* body, mjtObj type);
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// Return body's next child of the same type; return NULL if child is last.
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MJAPI mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child);
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// Return spec's first element of selected type.
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MJAPI mjsElement* mjs_firstElement(mjSpec* s, mjtObj type);
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// Return spec's next element; return NULL if element is last.
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MJAPI mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element);
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// Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.
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MJAPI mjsBody* mjs_asBody(mjsElement* element);
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@@ -1572,6 +1578,54 @@ MJAPI mjsLight* mjs_asLight(mjsElement* element);
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// Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
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MJAPI mjsFrame* mjs_asFrame(mjsElement* element);
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// Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
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MJAPI mjsActuator* mjs_asActuator(mjsElement* element);
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// Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
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MJAPI mjsSensor* mjs_asSensor(mjsElement* element);
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// Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
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MJAPI mjsFlex* mjs_asFlex(mjsElement* element);
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// Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
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MJAPI mjsPair* mjs_asPair(mjsElement* element);
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// Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
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MJAPI mjsEquality* mjs_asEquality(mjsElement* element);
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// Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
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MJAPI mjsExclude* mjs_asExclude(mjsElement* element);
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// Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
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MJAPI mjsTendon* mjs_asTendon(mjsElement* element);
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// Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
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MJAPI mjsNumeric* mjs_asNumeric(mjsElement* element);
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// Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
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MJAPI mjsText* mjs_asText(mjsElement* element);
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// Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
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MJAPI mjsTuple* mjs_asTuple(mjsElement* element);
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// Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
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MJAPI mjsKey* mjs_asKey(mjsElement* element);
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// Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
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MJAPI mjsMesh* mjs_asMesh(mjsElement* element);
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// Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
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MJAPI mjsHField* mjs_asHField(mjsElement* element);
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// Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
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MJAPI mjsSkin* mjs_asSkin(mjsElement* element);
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// Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
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MJAPI mjsTexture* mjs_asTexture(mjsElement* element);
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// Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
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MJAPI mjsMaterial* mjs_asMaterial(mjsElement* element);
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//---------------------------------- Attribute setters ---------------------------------------------
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@@ -9835,6 +9835,48 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
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),
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doc="Return body's next child of the same type; return NULL if child is last.", # pylint: disable=line-too-long
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)),
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('mjs_firstElement',
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FunctionDecl(
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name='mjs_firstElement',
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return_type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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parameters=(
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FunctionParameterDecl(
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name='s',
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type=PointerType(
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inner_type=ValueType(name='mjSpec'),
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),
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),
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FunctionParameterDecl(
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name='type',
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type=ValueType(name='mjtObj'),
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),
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),
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doc="Return spec's first element of selected type.",
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)),
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('mjs_nextElement',
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FunctionDecl(
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name='mjs_nextElement',
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return_type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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parameters=(
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FunctionParameterDecl(
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name='s',
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type=PointerType(
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inner_type=ValueType(name='mjSpec'),
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),
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),
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc="Return spec's next element; return NULL if element is last.",
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)),
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('mjs_asBody',
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FunctionDecl(
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name='mjs_asBody',
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@@ -9947,6 +9989,262 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
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),
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doc='Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.', # pylint: disable=line-too-long
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)),
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('mjs_asActuator',
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FunctionDecl(
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name='mjs_asActuator',
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return_type=PointerType(
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inner_type=ValueType(name='mjsActuator'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.', # pylint: disable=line-too-long
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)),
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('mjs_asSensor',
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FunctionDecl(
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name='mjs_asSensor',
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return_type=PointerType(
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inner_type=ValueType(name='mjsSensor'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.', # pylint: disable=line-too-long
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)),
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('mjs_asFlex',
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FunctionDecl(
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name='mjs_asFlex',
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return_type=PointerType(
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inner_type=ValueType(name='mjsFlex'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.', # pylint: disable=line-too-long
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)),
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('mjs_asPair',
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FunctionDecl(
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name='mjs_asPair',
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return_type=PointerType(
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inner_type=ValueType(name='mjsPair'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.', # pylint: disable=line-too-long
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)),
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('mjs_asEquality',
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FunctionDecl(
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name='mjs_asEquality',
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return_type=PointerType(
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inner_type=ValueType(name='mjsEquality'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.', # pylint: disable=line-too-long
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)),
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('mjs_asExclude',
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FunctionDecl(
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name='mjs_asExclude',
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return_type=PointerType(
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inner_type=ValueType(name='mjsExclude'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.', # pylint: disable=line-too-long
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)),
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('mjs_asTendon',
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FunctionDecl(
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name='mjs_asTendon',
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return_type=PointerType(
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inner_type=ValueType(name='mjsTendon'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.', # pylint: disable=line-too-long
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)),
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('mjs_asNumeric',
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FunctionDecl(
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name='mjs_asNumeric',
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return_type=PointerType(
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inner_type=ValueType(name='mjsNumeric'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.', # pylint: disable=line-too-long
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)),
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('mjs_asText',
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FunctionDecl(
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name='mjs_asText',
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return_type=PointerType(
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inner_type=ValueType(name='mjsText'),
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),
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parameters=(
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FunctionParameterDecl(
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name='element',
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type=PointerType(
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inner_type=ValueType(name='mjsElement'),
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),
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),
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),
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doc='Safely cast an element as mjsText, or return NULL if the element is not an mjsText.', # pylint: disable=line-too-long
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||||
)),
|
||||
('mjs_asTuple',
|
||||
FunctionDecl(
|
||||
name='mjs_asTuple',
|
||||
return_type=PointerType(
|
||||
inner_type=ValueType(name='mjsTuple'),
|
||||
),
|
||||
parameters=(
|
||||
FunctionParameterDecl(
|
||||
name='element',
|
||||
type=PointerType(
|
||||
inner_type=ValueType(name='mjsElement'),
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_asKey',
|
||||
FunctionDecl(
|
||||
name='mjs_asKey',
|
||||
return_type=PointerType(
|
||||
inner_type=ValueType(name='mjsKey'),
|
||||
),
|
||||
parameters=(
|
||||
FunctionParameterDecl(
|
||||
name='element',
|
||||
type=PointerType(
|
||||
inner_type=ValueType(name='mjsElement'),
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_asMesh',
|
||||
FunctionDecl(
|
||||
name='mjs_asMesh',
|
||||
return_type=PointerType(
|
||||
inner_type=ValueType(name='mjsMesh'),
|
||||
),
|
||||
parameters=(
|
||||
FunctionParameterDecl(
|
||||
name='element',
|
||||
type=PointerType(
|
||||
inner_type=ValueType(name='mjsElement'),
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_asHField',
|
||||
FunctionDecl(
|
||||
name='mjs_asHField',
|
||||
return_type=PointerType(
|
||||
inner_type=ValueType(name='mjsHField'),
|
||||
),
|
||||
parameters=(
|
||||
FunctionParameterDecl(
|
||||
name='element',
|
||||
type=PointerType(
|
||||
inner_type=ValueType(name='mjsElement'),
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_asSkin',
|
||||
FunctionDecl(
|
||||
name='mjs_asSkin',
|
||||
return_type=PointerType(
|
||||
inner_type=ValueType(name='mjsSkin'),
|
||||
),
|
||||
parameters=(
|
||||
FunctionParameterDecl(
|
||||
name='element',
|
||||
type=PointerType(
|
||||
inner_type=ValueType(name='mjsElement'),
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_asTexture',
|
||||
FunctionDecl(
|
||||
name='mjs_asTexture',
|
||||
return_type=PointerType(
|
||||
inner_type=ValueType(name='mjsTexture'),
|
||||
),
|
||||
parameters=(
|
||||
FunctionParameterDecl(
|
||||
name='element',
|
||||
type=PointerType(
|
||||
inner_type=ValueType(name='mjsElement'),
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_asMaterial',
|
||||
FunctionDecl(
|
||||
name='mjs_asMaterial',
|
||||
return_type=PointerType(
|
||||
inner_type=ValueType(name='mjsMaterial'),
|
||||
),
|
||||
parameters=(
|
||||
FunctionParameterDecl(
|
||||
name='element',
|
||||
type=PointerType(
|
||||
inner_type=ValueType(name='mjsElement'),
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_setString',
|
||||
FunctionDecl(
|
||||
name='mjs_setString',
|
||||
|
||||
@@ -297,6 +297,198 @@ PYBIND11_MODULE(_specs, m) {
|
||||
mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
|
||||
mjs_detachBody(self.ptr, &body);
|
||||
});
|
||||
mjSpec.def_property_readonly(
|
||||
"actuators",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_ACTUATOR);
|
||||
while (el) {
|
||||
list.append(mjs_asActuator(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"sensors",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SENSOR);
|
||||
while (el) {
|
||||
list.append(mjs_asSensor(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"flexes",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_FLEX);
|
||||
while (el) {
|
||||
list.append(mjs_asFlex(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"pairs",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_PAIR);
|
||||
while (el) {
|
||||
list.append(mjs_asPair(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"equality",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EQUALITY);
|
||||
while (el) {
|
||||
list.append(mjs_asEquality(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"excludes",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EXCLUDE);
|
||||
while (el) {
|
||||
list.append(mjs_asExclude(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"tendons",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TENDON);
|
||||
while (el) {
|
||||
list.append(mjs_asTendon(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"numeric",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_NUMERIC);
|
||||
while (el) {
|
||||
list.append(mjs_asNumeric(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"text",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXT);
|
||||
while (el) {
|
||||
list.append(mjs_asText(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"tuple",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TUPLE);
|
||||
while (el) {
|
||||
list.append(mjs_asTuple(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"key",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_KEY);
|
||||
while (el) {
|
||||
list.append(mjs_asKey(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"mesh",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MESH);
|
||||
while (el) {
|
||||
list.append(mjs_asMesh(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"hfield",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_HFIELD);
|
||||
while (el) {
|
||||
list.append(mjs_asHField(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"skin",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SKIN);
|
||||
while (el) {
|
||||
list.append(mjs_asSkin(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"texture",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXTURE);
|
||||
while (el) {
|
||||
list.append(mjs_asTexture(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjSpec.def_property_readonly(
|
||||
"material",
|
||||
[](MjSpec& self) -> py::list {
|
||||
py::list list;
|
||||
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MATERIAL);
|
||||
while (el) {
|
||||
list.append(mjs_asMaterial(el));
|
||||
el = mjs_nextElement(self.ptr, el);
|
||||
}
|
||||
return list;
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
|
||||
// ============================= MJSBODY ====================================
|
||||
mjsBody.def("id", [](raw::MjsBody& self) -> int {
|
||||
|
||||
@@ -217,6 +217,19 @@ class SpecsTest(absltest.TestCase):
|
||||
</mujoco>
|
||||
"""))
|
||||
|
||||
def test_element_list(self):
|
||||
spec = mujoco.MjSpec()
|
||||
sensor1 = spec.add_sensor()
|
||||
sensor2 = spec.add_sensor()
|
||||
sensor3 = spec.add_sensor()
|
||||
sensor1.name = 'sensor1'
|
||||
sensor2.name = 'sensor2'
|
||||
sensor3.name = 'sensor3'
|
||||
self.assertLen(spec.sensors, 3)
|
||||
self.assertEqual(spec.sensors[0].name, 'sensor1')
|
||||
self.assertEqual(spec.sensors[1].name, 'sensor2')
|
||||
self.assertEqual(spec.sensors[2].name, 'sensor3')
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
absltest.main()
|
||||
|
||||
@@ -590,6 +590,22 @@ mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child) {
|
||||
|
||||
|
||||
|
||||
// return spec's first element of selected type
|
||||
mjsElement* mjs_firstElement(mjSpec* s, mjtObj type) {
|
||||
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||
return modelC->NextObject(NULL, type);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return spec's next element; return NULL if element is last
|
||||
mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element) {
|
||||
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||
return modelC->NextObject(element);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return body given mjsElement
|
||||
mjsBody* mjs_asBody(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_BODY ? &(static_cast<mjCBody*>(element)->spec) : nullptr;
|
||||
@@ -639,6 +655,118 @@ mjsFrame* mjs_asFrame(mjsElement* element) {
|
||||
|
||||
|
||||
|
||||
// return actuator given mjsElement
|
||||
mjsActuator* mjs_asActuator(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_ACTUATOR ? &(static_cast<mjCActuator*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return sensor given mjsElement
|
||||
mjsSensor* mjs_asSensor(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_SENSOR ? &(static_cast<mjCSensor*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return flex given mjsElement
|
||||
mjsFlex* mjs_asFlex(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_FLEX ? &(static_cast<mjCFlex*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return pair given mjsElement
|
||||
mjsPair* mjs_asPair(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_PAIR ? &(static_cast<mjCPair*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return equality given mjsElement
|
||||
mjsEquality* mjs_asEquality(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_EQUALITY ? &(static_cast<mjCEquality*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return exclude given mjsElement
|
||||
mjsExclude* mjs_asExclude(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_EXCLUDE ? &(static_cast<mjCBodyPair*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return tendon given mjsElement
|
||||
mjsTendon* mjs_asTendon(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_TENDON ? &(static_cast<mjCTendon*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return numeric given mjsElement
|
||||
mjsNumeric* mjs_asNumeric(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_NUMERIC ? &(static_cast<mjCNumeric*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return text given mjsElement
|
||||
mjsText* mjs_asText(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_TEXT ? &(static_cast<mjCText*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return tuple given mjsElement
|
||||
mjsTuple* mjs_asTuple(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_TUPLE ? &(static_cast<mjCTuple*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return key given mjsElement
|
||||
mjsKey* mjs_asKey(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_KEY ? &(static_cast<mjCKey*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return mesh given mjsElement
|
||||
mjsMesh* mjs_asMesh(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_MESH ? &(static_cast<mjCMesh*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return hfield given mjsElement
|
||||
mjsHField* mjs_asHField(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_HFIELD ? &(static_cast<mjCHField*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return skin given mjsElement
|
||||
mjsSkin* mjs_asSkin(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_SKIN ? &(static_cast<mjCSkin*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return texture given mjsElement
|
||||
mjsTexture* mjs_asTexture(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_TEXTURE ? &(static_cast<mjCTexture*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// return material given mjsElement
|
||||
mjsMaterial* mjs_asMaterial(mjsElement* element) {
|
||||
return element->elemtype == mjOBJ_MATERIAL ? &(static_cast<mjCMaterial*>(element)->spec) : nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// set string
|
||||
void mjs_setString(mjString* dest, const char* text) {
|
||||
std::string* str = static_cast<std::string*>(dest);
|
||||
|
||||
@@ -218,6 +218,12 @@ MJAPI mjsElement* mjs_firstChild(mjsBody* body, mjtObj type);
|
||||
// Return body's next child of the same type; return NULL if child is last.
|
||||
MJAPI mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child);
|
||||
|
||||
// Return spec's first element of selected type.
|
||||
MJAPI mjsElement* mjs_firstElement(mjSpec* s, mjtObj type);
|
||||
|
||||
// Return spec's next element; return NULL if element is last.
|
||||
MJAPI mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.
|
||||
MJAPI mjsBody* mjs_asBody(mjsElement* element);
|
||||
|
||||
@@ -239,6 +245,54 @@ MJAPI mjsLight* mjs_asLight(mjsElement* element);
|
||||
// Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
|
||||
MJAPI mjsFrame* mjs_asFrame(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
|
||||
MJAPI mjsActuator* mjs_asActuator(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
|
||||
MJAPI mjsSensor* mjs_asSensor(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
|
||||
MJAPI mjsFlex* mjs_asFlex(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
|
||||
MJAPI mjsPair* mjs_asPair(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
|
||||
MJAPI mjsEquality* mjs_asEquality(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
|
||||
MJAPI mjsExclude* mjs_asExclude(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
|
||||
MJAPI mjsTendon* mjs_asTendon(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
|
||||
MJAPI mjsNumeric* mjs_asNumeric(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
|
||||
MJAPI mjsText* mjs_asText(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
|
||||
MJAPI mjsTuple* mjs_asTuple(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
|
||||
MJAPI mjsKey* mjs_asKey(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
|
||||
MJAPI mjsMesh* mjs_asMesh(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
|
||||
MJAPI mjsHField* mjs_asHField(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
|
||||
MJAPI mjsSkin* mjs_asSkin(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
|
||||
MJAPI mjsTexture* mjs_asTexture(mjsElement* element);
|
||||
|
||||
// Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
|
||||
MJAPI mjsMaterial* mjs_asMaterial(mjsElement* element);
|
||||
|
||||
|
||||
//---------------------------------- Attribute setters ---------------------------------------------
|
||||
|
||||
|
||||
@@ -706,6 +706,70 @@ mjCBase* mjCModel::GetObject(mjtObj type, int id) {
|
||||
|
||||
|
||||
|
||||
template <class T>
|
||||
static mjsElement* GetNext(std::vector<T*>& list, mjsElement* child) {
|
||||
// TODO: use id for direct indexing instead of a loop
|
||||
for (unsigned int i = 0; i < list.size()-1; i++) {
|
||||
if (list[i]->spec.element == child) {
|
||||
return list[i+1]->spec.element;
|
||||
}
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// next object of specified type
|
||||
mjsElement* mjCModel::NextObject(mjsElement* object, mjtObj type) {
|
||||
if (type == mjOBJ_UNKNOWN) {
|
||||
if (!object) {
|
||||
throw mjCError(NULL, "type must be specified if no element is given");
|
||||
} else {
|
||||
type = object->elemtype;
|
||||
}
|
||||
} else if (object && object->elemtype != type) {
|
||||
throw mjCError(NULL, "element is not of requested type");
|
||||
}
|
||||
|
||||
switch (type) {
|
||||
case mjOBJ_ACTUATOR:
|
||||
return object ? GetNext(actuators_, object) : actuators_[0];
|
||||
case mjOBJ_SENSOR:
|
||||
return object ? GetNext(sensors_, object) : sensors_[0];
|
||||
case mjOBJ_FLEX:
|
||||
return object ? GetNext(flexes_, object) : flexes_[0];
|
||||
case mjOBJ_PAIR:
|
||||
return object ? GetNext(pairs_, object) : pairs_[0];
|
||||
case mjOBJ_EXCLUDE:
|
||||
return object ? GetNext(excludes_, object) : excludes_[0];
|
||||
case mjOBJ_EQUALITY:
|
||||
return object ? GetNext(equalities_, object) : equalities_[0];
|
||||
case mjOBJ_TENDON:
|
||||
return object ? GetNext(tendons_, object) : tendons_[0];
|
||||
case mjOBJ_NUMERIC:
|
||||
return object ? GetNext(numerics_, object) : numerics_[0];
|
||||
case mjOBJ_TEXT:
|
||||
return object ? GetNext(texts_, object) : texts_[0];
|
||||
case mjOBJ_TUPLE:
|
||||
return object ? GetNext(tuples_, object) : tuples_[0];
|
||||
case mjOBJ_KEY:
|
||||
return object ? GetNext(keys_, object) : keys_[0];
|
||||
case mjOBJ_MESH:
|
||||
return object ? GetNext(meshes_, object) : meshes_[0];
|
||||
case mjOBJ_HFIELD:
|
||||
return object ? GetNext(hfields_, object) : hfields_[0];
|
||||
case mjOBJ_SKIN:
|
||||
return object ? GetNext(skins_, object) : skins_[0];
|
||||
case mjOBJ_TEXTURE:
|
||||
return object ? GetNext(textures_, object) : textures_[0];
|
||||
case mjOBJ_MATERIAL:
|
||||
return object ? GetNext(materials_, object) : materials_[0];
|
||||
default:
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//------------------------ API FOR ACCESS TO PRIVATE VARIABLES -------------------------------------
|
||||
|
||||
// compiled flag
|
||||
|
||||
@@ -203,6 +203,7 @@ class mjCModel : public mjCModel_, private mjSpec {
|
||||
// API for access to model elements (outside tree)
|
||||
int NumObjects(mjtObj type); // number of objects in specified list
|
||||
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object
|
||||
mjsElement* NextObject(mjsElement* object, mjtObj type = mjOBJ_UNKNOWN); // next object of specified type
|
||||
|
||||
// API for access to other variables
|
||||
bool IsCompiled() const; // is model already compiled
|
||||
|
||||
Reference in New Issue
Block a user