Add non-tree element lists to python bindings.

Fixes #1752.

PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227

doc/APIreference/functions.rst

@@ -4176,6 +4176,24 @@ mjs_nextChild
 
 Return body's next child of the same type; return NULL if child is last.
 
+.. _mjs_firstElement:
+
+mjs_firstElement
+~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_firstElement
+
+Return spec's first element of selected type.
+
+.. _mjs_nextElement:
+
+mjs_nextElement
+~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_nextElement
+
+Return spec's next element; return NULL if element is last.
+
 .. _mjs_asBody:
 
 mjs_asBody
@@ -4239,6 +4257,150 @@ mjs_asFrame
 
 Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
 
+.. _mjs_asActuator:
+
+mjs_asActuator
+~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asActuator
+
+Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
+
+.. _mjs_asSensor:
+
+mjs_asSensor
+~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asSensor
+
+Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
+
+.. _mjs_asFlex:
+
+mjs_asFlex
+~~~~~~~~~~
+
+.. mujoco-include:: mjs_asFlex
+
+Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
+
+.. _mjs_asPair:
+
+mjs_asPair
+~~~~~~~~~~
+
+.. mujoco-include:: mjs_asPair
+
+Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
+
+.. _mjs_asEquality:
+
+mjs_asEquality
+~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asEquality
+
+Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
+
+.. _mjs_asExclude:
+
+mjs_asExclude
+~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asExclude
+
+Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
+
+.. _mjs_asTendon:
+
+mjs_asTendon
+~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asTendon
+
+Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
+
+.. _mjs_asNumeric:
+
+mjs_asNumeric
+~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asNumeric
+
+Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
+
+.. _mjs_asText:
+
+mjs_asText
+~~~~~~~~~~
+
+.. mujoco-include:: mjs_asText
+
+Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
+
+.. _mjs_asTuple:
+
+mjs_asTuple
+~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asTuple
+
+Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
+
+.. _mjs_asKey:
+
+mjs_asKey
+~~~~~~~~~
+
+.. mujoco-include:: mjs_asKey
+
+Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
+
+.. _mjs_asMesh:
+
+mjs_asMesh
+~~~~~~~~~~
+
+.. mujoco-include:: mjs_asMesh
+
+Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
+
+.. _mjs_asHField:
+
+mjs_asHField
+~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asHField
+
+Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
+
+.. _mjs_asSkin:
+
+mjs_asSkin
+~~~~~~~~~~
+
+.. mujoco-include:: mjs_asSkin
+
+Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
+
+.. _mjs_asTexture:
+
+mjs_asTexture
+~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asTexture
+
+Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
+
+.. _mjs_asMaterial:
+
+mjs_asMaterial
+~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_asMaterial
+
+Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
+
 .. _AttributeSetters:
 
 Attribute setters

doc/includes/references.h

@@ -3551,6 +3551,8 @@ mjsDefault* mjs_getSpecDefault(mjSpec* s);
 int mjs_getId(mjsElement* element);
 mjsElement* mjs_firstChild(mjsBody* body, mjtObj type);
 mjsElement* mjs_nextChild(mjsBody* body, mjsElement* child);
+mjsElement* mjs_firstElement(mjSpec* s, mjtObj type);
+mjsElement* mjs_nextElement(mjSpec* s, mjsElement* element);
 mjsBody* mjs_asBody(mjsElement* element);
 mjsGeom* mjs_asGeom(mjsElement* element);
 mjsJoint* mjs_asJoint(mjsElement* element);
@@ -3558,6 +3560,22 @@ mjsSite* mjs_asSite(mjsElement* element);
 mjsCamera* mjs_asCamera(mjsElement* element);
 mjsLight* mjs_asLight(mjsElement* element);
 mjsFrame* mjs_asFrame(mjsElement* element);
+mjsActuator* mjs_asActuator(mjsElement* element);
+mjsSensor* mjs_asSensor(mjsElement* element);
+mjsFlex* mjs_asFlex(mjsElement* element);
+mjsPair* mjs_asPair(mjsElement* element);
+mjsEquality* mjs_asEquality(mjsElement* element);
+mjsExclude* mjs_asExclude(mjsElement* element);
+mjsTendon* mjs_asTendon(mjsElement* element);
+mjsNumeric* mjs_asNumeric(mjsElement* element);
+mjsText* mjs_asText(mjsElement* element);
+mjsTuple* mjs_asTuple(mjsElement* element);
+mjsKey* mjs_asKey(mjsElement* element);
+mjsMesh* mjs_asMesh(mjsElement* element);
+mjsHField* mjs_asHField(mjsElement* element);
+mjsSkin* mjs_asSkin(mjsElement* element);
+mjsTexture* mjs_asTexture(mjsElement* element);
+mjsMaterial* mjs_asMaterial(mjsElement* element);
 void mjs_setString(mjString* dest, const char* text);
 void mjs_setStringVec(mjStringVec* dest, const char* text);
 mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);