Whether this codegen layer owns the xml_enum import/export for ``attr``. Two cases fire: - The attr appears in this layer's attrs list — su

Given an index pointing AT '{', return the substring up to the matching close (exclusive of both braces). Tracks string literals and line/bloc

Split a comma-separated tuple body that may contain MJ_M(...) calls.

Split on top-level commas (respecting parens and quotes).

Build the YAML nav fragment, hierarchically.

Convert a single mesh file to GLB.

Emit Markdown files into docs_root/api/. Returns a dict of {section: [(name, rel_md_path), ...]} for nav building.

mode = 'serve' | 'build

Categorisation: does this transport accept editor-only ops? * ZMQ accepts everything; SHM rejects editor-only ops with a * `wrong_transport: use

Map URLab actuator enum -> wire-format string. */

Apply one <compiler> element's attributes onto Settings, overriding only the attributes actually present so multiple compilers merge (later wins).

Apply a partial JSON config to this controller. Missing fields keep their current value. */

Constructor handles casting from generic element if necessary

Get body ID by name (prefixed or not). Returns -1 if not found. */

Walk a model/fragment root applying every <compiler> in document order, descending into <include>d fragments (rooted in <mujocoinclude>).

* Returns this component's MjClassName for editor-time default resolution. * Base returns empty string. Subclasses with MjClassName override this.

@brief Returns the number of objects of a given type in the compiled model. */

Load a previously saved hash. Returns empty string if not found. */

Minimal MJCF that compiles: one free body with a capsule geom, plus a flexcomp that produces a real <flex> asset. The generated flex is named "cloth"