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Add mjs_getOriginSpec to retrieve the original spec of an element.

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The new function mjs_getOriginSpec returns the mjSpec that was used to define a given mjsElement. Unlike mjs_getSpec, this value remains constant even after the element has been attached to a different model.

PiperOrigin-RevId: 911930951
Change-Id: Ia9cd79d9dfabc513d6121eadcffc5d41075224c9
This commit is contained in:
Sam Haves
2026-05-07 06:32:54 -07:00
committed by Copybara-Service
parent 8b06fe4c16
commit ec50260e26
9 changed files with 90 additions and 0 deletions
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doc/APIreference/functions.rst
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@@ -4783,6 +4783,16 @@ Find and get utilities
Get spec from body.
.. _mjs_getOriginSpec:
`mjs_getOriginSpec <#mjs_getOriginSpec>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getOriginSpec
get spec that originally defined an element
contrary to mjs_getSpec, this does not change after attachment
.. _mjs_getCompiler:
`mjs_getCompiler <#mjs_getCompiler>`__