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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
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@@ -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