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PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
This commit is contained in:
Google DeepMind
2025-09-19 10:09:54 -07:00
committed by Copybara-Service
parent 26ea20a21f
commit 0e1104768a
16 changed files with 98 additions and 79 deletions
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python/mujoco/introspect/structs.py
+14 -14
View File
@@ -7928,6 +7928,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjLROpt'),
doc='options for lengthrange computation',
),
StructFieldDecl(
name='meshdir',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='mesh and hfield directory',
),
StructFieldDecl(
name='texturedir',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='texture directory',
),
),
)),
('mjSpec',
@@ -7959,20 +7973,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtByte'),
doc='automatically strip paths from mesh files',
),
StructFieldDecl(
name='meshdir',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='mesh and hfield directory',
),
StructFieldDecl(
name='texturedir',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='texture directory',
),
StructFieldDecl(
name='option',
type=ValueType(name='mjOption'),
python/mujoco/specs.cc
+16
View File
@@ -593,6 +593,22 @@ PYBIND11_MODULE(_specs, m) {
},
py::arg("degree"), py::arg("sequence") = py::none(),
py::arg("orientation"), py::return_value_policy::copy);
mjSpec.def_property(
"meshdir",
[](MjSpec& self) -> std::string_view {
return *self.ptr->compiler.meshdir;
},
[](MjSpec& self, std::string_view meshdir) {
*(self.ptr->compiler.meshdir) = meshdir;
});
mjSpec.def_property(
"texturedir",
[](MjSpec& self) -> std::string_view {
return *self.ptr->compiler.texturedir;
},
[](MjSpec& self, std::string_view texturedir) {
*(self.ptr->compiler.texturedir) = texturedir;
});
// ============================= MJSBODY =====================================
mjsBody.def(