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Add plugins list to mjSpec Python API.

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Fixes #2061.

PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
This commit is contained in:
Alessio Quaglino
2024-09-23 06:12:42 -07:00
committed by Copybara-Service
parent 91cedfd65c
commit 0ba11b9623
18 changed files with 127 additions and 44 deletions
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python/mujoco/specs.cc
+15 -3
View File
@@ -274,6 +274,18 @@ PYBIND11_MODULE(_specs, m) {
mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
mjs_detachBody(self.ptr, &body);
});
mjSpec.def_property_readonly(
"plugins",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_PLUGIN);
while (el) {
list.append(mjs_asPlugin(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"actuators",
[](MjSpec& self) -> py::list {
@@ -900,12 +912,12 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSPLUGIN ===================================
mjsPlugin.def_property(
"id",
[](raw::MjsPlugin& self) -> int { return mjs_getId(self.instance); },
[](raw::MjsPlugin& self) -> int { return mjs_getId(self.element); },
[](raw::MjsPlugin& self, raw::MjsPlugin* other) {
self.instance = other->instance;
self.element = other->element;
});
mjsPlugin.def("delete",
[](raw::MjsPlugin& self) { mjs_delete(self.instance); });
[](raw::MjsPlugin& self) { mjs_delete(self.element); });
#include "specs.cc.inc"
} // PYBIND11_MODULE // NOLINT
python/mujoco/specs_test.py
+27
View File
@@ -690,5 +690,32 @@ class SpecsTest(absltest.TestCase):
):
spec.recompile(model, data)
def test_delete_unused_plugin(self):
spec = mujoco.MjSpec()
spec.from_string(textwrap.dedent("""
<mujoco model="MuJoCo Model">
<extension>
<plugin plugin="mujoco.pid">
<instance name="pid1">
<config key="kp" value="4.0"/>
</instance>
</plugin>
</extension>
<worldbody>
<body>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
"""))
plugin = spec.plugins[0]
self.assertIsNotNone(plugin)
plugin.delete()
model = spec.compile()
self.assertIsNotNone(model)
self.assertEqual(model.nplugin, 0)
if __name__ == '__main__':
absltest.main()