Add mjs_findElement() to find any element in a spec by name.

Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0

doc/APIreference/functions.rst

@@ -4123,7 +4123,16 @@ mjs_findBody
 
 .. mujoco-include:: mjs_findBody
 
-Find body in model by name.
+Find body in spec by name.
+
+.. _mjs_findElement:
+
+mjs_findElement
+~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_findElement
+
+Find element in spec by name.
 
 .. _mjs_findChild:
 
@@ -4134,15 +4143,6 @@ mjs_findChild
 
 Find child body by name.
 
-.. _mjs_findMesh:
-
-mjs_findMesh
-~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_findMesh
-
-Find mesh by name.
-
 .. _mjs_findFrame:
 
 mjs_findFrame
@@ -4152,15 +4152,6 @@ mjs_findFrame
 
 Find frame by name.
 
-.. _mjs_findKeyframe:
-
-mjs_findKeyframe
-~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_findKeyframe
-
-Find keyframe by name.
-
 .. _mjs_getDefault:
 
 mjs_getDefault

doc/changelog.rst

@@ -15,6 +15,8 @@ General
      :ref:`ccd_tolerance<option-ccd_tolerance>` and :ref:`ccd_iterations<option-ccd_iterations>`, both in XML and in
      the :ref:`mjOption` struct. This is because the new convex collision detection pipeline (see below) does not use
      the MPR algorithm. The semantics of these options remain identical.
+   - The functions ``mjs_findMesh`` and ``mjs_findKeyframe`` were replaced by ``mjs_findElement``, which allows to look
+     for any object type.
 
 - Added a new way of defining :ref:`connect<equality-connect>` equality constraints, using two sites rather than bodies.
   The new semantic is useful when the assumption that the constraint is satisfied in the base configuration does not

doc/includes/references.h

@@ -3572,10 +3572,9 @@ mjsTexture* mjs_addTexture(mjSpec* s);
 mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
 mjSpec* mjs_getSpec(mjsBody* body);
 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);
-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);