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Replace mjs_detachBody and mjs_detachDefault with mjs_detach.

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In a follow-up, mjs_detach will be changed to only remove without deleting an element.

PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
This commit is contained in:
Alessio Quaglino
2025-06-20 04:11:14 -07:00
committed by Copybara-Service
parent 4ce6293217
commit 0488d9f4eb
15 changed files with 177 additions and 179 deletions
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python/mujoco/specs.cc
+71 -36
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@@ -397,7 +397,7 @@ PYBIND11_MODULE(_specs, m) {
},
py::return_value_policy::reference_internal);
mjSpec.def("detach_default", [](MjSpec& self, raw::MjsDefault& def) {
if (mjs_detachDefault(self.ptr, &def) != 0) {
if (mjs_delete(self.ptr, def.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
@@ -408,7 +408,7 @@ PYBIND11_MODULE(_specs, m) {
},
py::return_value_policy::reference_internal);
mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
mjs_detachBody(self.ptr, &body);
mjs_delete(self.ptr, body.element);
});
mjSpec.def(
"attach",
@@ -759,7 +759,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSFRAME ====================================
mjsFrame.def("delete", [](raw::MjsFrame& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsFrame& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -796,7 +798,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSGEOM =====================================
mjsGeom.def("delete", [](raw::MjsGeom& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsGeom& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -824,7 +828,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSJOINT ====================================
mjsJoint.def("delete", [](raw::MjsJoint& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsJoint& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -852,7 +858,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSSITE =====================================
mjsSite.def("delete", [](raw::MjsSite& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsSite& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -897,8 +905,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSCAMERA ===================================
mjsCamera.def("delete",
[](raw::MjsCamera& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsCamera& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -926,7 +935,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSLIGHT ====================================
mjsLight.def("delete", [](raw::MjsLight& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsLight& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
@@ -954,8 +965,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSMATERIAL =================================
mjsMaterial.def("delete",
[](raw::MjsMaterial& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsMaterial& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsMaterial.def_property(
"classname",
[](raw::MjsMaterial& self) -> raw::MjsDefault* {
@@ -966,7 +978,9 @@ PYBIND11_MODULE(_specs, m) {
});
// ============================= MJSMESH =====================================
mjsMesh.def("delete", [](raw::MjsMesh& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsMesh& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsMesh.def_property(
"classname",
[](raw::MjsMesh& self) -> raw::MjsDefault* {
@@ -977,7 +991,9 @@ PYBIND11_MODULE(_specs, m) {
});
// ============================= MJSPAIR =====================================
mjsPair.def("delete", [](raw::MjsPair& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsPair& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsPair.def_property(
"classname",
[](raw::MjsPair& self) -> raw::MjsDefault* {
@@ -988,8 +1004,9 @@ PYBIND11_MODULE(_specs, m) {
});
// ============================= MJSEQUAL ====================================
mjsEquality.def("delete",
[](raw::MjsEquality& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsEquality& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsEquality.def_property(
"classname",
[](raw::MjsEquality& self) -> raw::MjsDefault* {
@@ -1000,8 +1017,9 @@ PYBIND11_MODULE(_specs, m) {
});
// ============================= MJSACTUATOR =================================
mjsActuator.def("delete",
[](raw::MjsActuator& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsActuator& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsActuator.def_property(
"classname",
[](raw::MjsActuator& self) -> raw::MjsDefault* {
@@ -1101,8 +1119,9 @@ PYBIND11_MODULE(_specs, m) {
py::arg("gain"));
// ============================= MJSTENDON ===================================
mjsTendon.def("delete",
[](raw::MjsTendon& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsTendon& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsTendon.def(
"default",
[](raw::MjsTendon& self) -> raw::MjsDefault* {
@@ -1135,39 +1154,54 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSSENSOR ===================================
mjsSensor.def("delete",
[](raw::MjsSensor& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsSensor& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSFLEX =====================================
mjsFlex.def("delete", [](raw::MjsFlex& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsFlex& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSHFIELD ===================================
mjsHField.def("delete",
[](raw::MjsHField& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsHField& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSSKIN =====================================
mjsSkin.def("delete", [](raw::MjsSkin& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsSkin& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSTEXTURE ==================================
mjsTexture.def("delete",
[](raw::MjsTexture& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsTexture& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSKEY ======================================
mjsKey.def("delete", [](raw::MjsKey& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsKey& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSTEXT =====================================
mjsText.def("delete", [](raw::MjsText& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsText& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSNUMERIC ==================================
mjsNumeric.def("delete",
[](raw::MjsNumeric& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsNumeric& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSEXCLUDE ==================================
mjsExclude.def("delete",
[](raw::MjsExclude& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsExclude& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSTUPLE ====================================
mjsTuple.def("delete", [](raw::MjsTuple& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsTuple& obj) {
mjs_delete(self.ptr, obj.element);
});
// ============================= MJSPLUGIN ===================================
mjsPlugin.def_property(
@@ -1176,8 +1210,9 @@ PYBIND11_MODULE(_specs, m) {
[](raw::MjsPlugin& self, raw::MjsPlugin* other) {
self.element = other->element;
});
mjsPlugin.def("delete",
[](raw::MjsPlugin& self) { mjs_delete(self.element); });
mjSpec.def("delete", [](MjSpec& self, raw::MjsPlugin& obj) {
mjs_delete(self.ptr, obj.element);
});
mjsPlugin.def_property(
"config",
[](raw::MjsPlugin& self) -> py::dict {