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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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test/user/user_api_test.cc
+13
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@@ -78,6 +78,13 @@ TEST_F(MujocoTest, TreeTraversal) {
mjsSite* site3 = mjs_addSite(body, 0);
mjsGeom* geom3 = mjs_addGeom(body, 0);
mjs_setString(site1->name, "site1");
mjs_setString(geom1->name, "geom1");
mjs_setString(geom2->name, "geom2");
mjs_setString(site2->name, "site2");
mjs_setString(site3->name, "site3");
mjs_setString(geom3->name, "geom3");
mjsElement* a_el1 = mjs_firstElement(spec, mjOBJ_ACTUATOR);
mjsElement* c_el1 = mjs_firstChild(body, mjOBJ_CAMERA);
mjsElement* t_el1 = mjs_firstChild(body, mjOBJ_TENDON);
@@ -101,6 +108,12 @@ TEST_F(MujocoTest, TreeTraversal) {
EXPECT_EQ(g_el3, geom3->element);
EXPECT_EQ(g_el4, nullptr);
EXPECT_EQ(s_el4, nullptr);
EXPECT_EQ(mjs_findElement(spec, mjOBJ_SITE, "site1"), site1->element);
EXPECT_EQ(mjs_findElement(spec, mjOBJ_SITE, "site2"), site2->element);
EXPECT_EQ(mjs_findElement(spec, mjOBJ_SITE, "site3"), site3->element);
EXPECT_EQ(mjs_findElement(spec, mjOBJ_GEOM, "geom1"), geom1->element);
EXPECT_EQ(mjs_findElement(spec, mjOBJ_GEOM, "geom2"), geom2->element);
EXPECT_EQ(mjs_findElement(spec, mjOBJ_GEOM, "geom3"), geom3->element);
mj_deleteSpec(spec);
}