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

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Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
This commit is contained in:
Alessio Quaglino
2024-09-04 08:23:18 -07:00
committed by Copybara-Service
parent 0e8c0b80eb
commit d3dfa6f970
13 changed files with 149 additions and 156 deletions
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doc/changelog.rst
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@@ -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