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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
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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/changelog.rst
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@@ -19,6 +19,9 @@ General
energy gain in the presence of contacts and in fluid media.
- Added :ref:`mju_sym2dense`, converting a lower-triangular, implicitly symmetric CSR matrix to a dense
symmetric matrix. The inertia matrix ``mjData.M`` is an example of such a matrix.
- Added :ref:`mjs_getOriginSpec`, returning the spec that originally defined an element, prior to attachment. This is in
contrast to :ref:`mjs_getSpec` which returns the spec currently owning the element. If the element is not the result
of an attach operation, the functions are identical.
.. admonition:: Future breaking API changes
:class: warning