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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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include/mujoco/mujoco.h
+4
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@@ -1776,6 +1776,10 @@ MJAPI int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, in
// Get spec from body.
MJAPI mjSpec* mjs_getSpec(const mjsElement* element);
// get spec that originally defined an element
// contrary to mjs_getSpec, this does not change after attachment
MJAPI mjSpec* mjs_getOriginSpec(const mjsElement* element);
// Get compiler associated with element's origin spec.
MJAPI mjsCompiler* mjs_getCompiler(const mjsElement* element);