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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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test/user/user_api_test.cc
+33
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@@ -205,6 +205,39 @@ TEST_F(MujocoTest, AttachAndChildDeletion) {
mj_deleteSpec(parent_spec);
}
TEST_F(MujocoTest, OriginSpecInvariantToAttachment) {
mjSpec* child_spec = mj_makeSpec();
mjsBody* child_world = mjs_findBody(child_spec, "world");
mjsBody* child_body = mjs_addBody(child_world, 0);
mjsJoint* freejoint = mjs_addJoint(child_body, 0);
freejoint->type = mjJNT_FREE;
mjs_setName(freejoint->element, "child_freejoint");
mjSpec* parent_spec = mj_makeSpec();
mjsBody* parent_world = mjs_findBody(parent_spec, "world");
mjsBody* parent_body = mjs_addBody(parent_world, 0);
mjs_setName(parent_body->element, "parent_body");
// Attach child spec to parent_body
mjsElement* attached =
mjs_attach(parent_body->element, child_spec->element, "pre_", "");
ASSERT_THAT(attached, NotNull());
// The freejoint should still be in parent_spec because deletion failed
mjsElement* child_spec_joint =
mjs_findElement(parent_spec, mjOBJ_JOINT, "pre_child_freejoint");
EXPECT_EQ(mjs_getSpec(child_spec_joint), parent_spec);
EXPECT_EQ(mjs_getOriginSpec(child_spec_joint), child_spec);
mjsElement* parent_spec_body =
mjs_findElement(parent_spec, mjOBJ_BODY, "parent_body");
EXPECT_EQ(mjs_getOriginSpec(parent_spec_body), parent_spec);
mj_deleteSpec(child_spec);
mj_deleteSpec(parent_spec);
}
int open_mock(mjResource* resource) {
static const char parent_xml[] = R"(
<mujoco>