Make "id" a property rather than a method of mjsElements in Python bindings.
PiperOrigin-RevId: 649424035 Change-Id: I8226b3040aa2001ae9748399257e36ac263b7c8b
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
f8b944bf7f
commit
118b6810b3
+84
-81
@@ -13,21 +13,21 @@
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// limitations under the License.
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#include <array>
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#include <cstddef>
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#include <cstddef> // IWYU pragma: keep
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#include <cstdint>
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#include <memory>
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#include <string>
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#include <string_view>
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#include <vector>
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#include <string_view> // IWYU pragma: keep
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#include <vector> // IWYU pragma: keep
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#include <Eigen/Core>
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#include <Eigen/Eigen>
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#include <mujoco/mjspec.h>
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#include <mujoco/mjspec.h> // IWYU pragma: keep
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#include <mujoco/mujoco.h>
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#include "errors.h"
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#include "indexers.h"
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#include "indexers.h" // IWYU pragma: keep
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#include "raw.h"
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#include "structs.h"
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#include "structs.h" // IWYU pragma: keep
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#include <pybind11/cast.h>
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#include <pybind11/eigen.h>
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#include <pybind11/eigen/matrix.h>
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@@ -490,10 +490,10 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSBODY ====================================
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mjsBody.def("id", [](raw::MjsBody& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSBODY =====================================
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mjsBody.def_property_readonly(
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"id", [](raw::MjsBody& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsBody.def("delete", [](raw::MjsBody& self) { mjs_delete(self.element); });
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mjsBody.def(
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"add_body",
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@@ -665,9 +665,9 @@ PYBIND11_MODULE(_specs, m) {
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});
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// ============================= MJSFRAME ====================================
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mjsFrame.def("id", [](raw::MjsFrame& self) -> int {
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return mjs_getId(self.element);
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});
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mjsFrame.def_property_readonly(
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"id", [](raw::MjsFrame& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsFrame.def("delete", [](raw::MjsFrame& self) { mjs_delete(self.element); });
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mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
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mjs_setFrame(self.element, &frame);
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@@ -677,10 +677,10 @@ PYBIND11_MODULE(_specs, m) {
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mjs_attachBody(&self, &body, prefix.c_str(), suffix.c_str());
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});
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// ============================= MJSGEOM ====================================
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mjsGeom.def("id", [](raw::MjsGeom& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSGEOM =====================================
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mjsGeom.def_property_readonly(
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"id", [](raw::MjsGeom& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsGeom.def("delete", [](raw::MjsGeom& self) { mjs_delete(self.element); });
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mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
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mjs_setFrame(self.element, &frame);
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@@ -696,9 +696,9 @@ PYBIND11_MODULE(_specs, m) {
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py::return_value_policy::reference_internal);
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// ============================= MJSJOINT ====================================
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mjsJoint.def("id", [](raw::MjsJoint& self) -> int {
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return mjs_getId(self.element);
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});
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mjsJoint.def_property_readonly(
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"id", [](raw::MjsJoint& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsJoint.def("delete", [](raw::MjsJoint& self) { mjs_delete(self.element); });
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mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
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mjs_setFrame(self.element, &frame);
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@@ -713,10 +713,10 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSSITE ====================================
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mjsSite.def("id", [](raw::MjsSite& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSSITE =====================================
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mjsSite.def_property_readonly(
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"id", [](raw::MjsSite& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsSite.def("delete", [](raw::MjsSite& self) { mjs_delete(self.element); });
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mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
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mjs_setFrame(self.element, &frame);
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@@ -731,10 +731,10 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSCAMERA ==================================
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mjsCamera.def("id", [](raw::MjsCamera& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSCAMERA ===================================
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mjsCamera.def_property_readonly(
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"id", [](raw::MjsCamera& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsCamera.def("delete",
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[](raw::MjsCamera& self) { mjs_delete(self.element); });
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mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
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@@ -751,9 +751,9 @@ PYBIND11_MODULE(_specs, m) {
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py::return_value_policy::reference_internal);
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// ============================= MJSLIGHT ====================================
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mjsLight.def("id", [](raw::MjsLight& self) -> int {
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return mjs_getId(self.element);
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});
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mjsLight.def_property_readonly(
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"id", [](raw::MjsLight& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsLight.def("delete", [](raw::MjsLight& self) { mjs_delete(self.element); });
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mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
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mjs_setFrame(self.element, &frame);
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@@ -768,10 +768,11 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSMATERIAL ================================
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mjsMaterial.def("id", [](raw::MjsMaterial& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSMATERIAL =================================
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mjsMaterial.def_property_readonly(
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"id",
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[](raw::MjsMaterial& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsMaterial.def("delete",
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[](raw::MjsMaterial& self) { mjs_delete(self.element); });
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mjsMaterial.def("set_default",
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@@ -785,10 +786,10 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSMESH ====================================
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mjsMesh.def("id", [](raw::MjsMesh& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSMESH =====================================
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mjsMesh.def_property_readonly(
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"id", [](raw::MjsMesh& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsMesh.def("delete", [](raw::MjsMesh& self) { mjs_delete(self.element); });
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mjsMesh.def("set_default", [](raw::MjsMesh& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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@@ -800,10 +801,10 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSPAIR ====================================
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mjsPair.def("id", [](raw::MjsPair& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSPAIR =====================================
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mjsPair.def_property_readonly(
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"id", [](raw::MjsPair& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsPair.def("delete", [](raw::MjsPair& self) { mjs_delete(self.element); });
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mjsPair.def("set_default", [](raw::MjsPair& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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@@ -816,9 +817,10 @@ PYBIND11_MODULE(_specs, m) {
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py::return_value_policy::reference_internal);
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// ============================= MJSEQUAL ====================================
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mjsEquality.def("id", [](raw::MjsEquality& self) -> int {
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return mjs_getId(self.element);
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});
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mjsEquality.def_property_readonly(
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"id",
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[](raw::MjsEquality& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsEquality.def("delete",
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[](raw::MjsEquality& self) { mjs_delete(self.element); });
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mjsEquality.def("set_default",
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@@ -832,10 +834,11 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSACTUATOR ================================
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mjsActuator.def("id", [](raw::MjsActuator& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSACTUATOR =================================
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mjsActuator.def_property_readonly(
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"id",
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[](raw::MjsActuator& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsActuator.def("delete",
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[](raw::MjsActuator& self) { mjs_delete(self.element); });
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mjsActuator.def("set_default",
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@@ -849,10 +852,10 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSTENDON ==================================
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mjsTendon.def("id", [](raw::MjsTendon& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSTENDON ===================================
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mjsTendon.def_property_readonly(
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"id", [](raw::MjsTendon& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsTendon.def("delete",
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[](raw::MjsTendon& self) { mjs_delete(self.element); });
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mjsTendon.def("set_default", [](raw::MjsTendon& self, raw::MjsDefault& def) {
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@@ -889,71 +892,72 @@ PYBIND11_MODULE(_specs, m) {
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},
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py::return_value_policy::reference_internal);
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// ============================= MJSSENSOR ==================================
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mjsSensor.def("id", [](raw::MjsSensor& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSSENSOR ===================================
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mjsSensor.def_property_readonly(
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"id", [](raw::MjsSensor& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsSensor.def("delete",
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[](raw::MjsSensor& self) { mjs_delete(self.element); });
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// ============================= MJSFLEX ====================================
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mjsFlex.def("id", [](raw::MjsFlex& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSFLEX =====================================
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mjsFlex.def_property_readonly(
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"id", [](raw::MjsFlex& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsFlex.def("delete", [](raw::MjsFlex& self) { mjs_delete(self.element); });
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// ============================= MJSHFIELD ==================================
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mjsHField.def("id", [](raw::MjsHField& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSHFIELD ===================================
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mjsHField.def_property_readonly(
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"id", [](raw::MjsHField& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsHField.def("delete",
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[](raw::MjsHField& self) { mjs_delete(self.element); });
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// ============================= MJSSKIN ====================================
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mjsSkin.def("id", [](raw::MjsSkin& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSSKIN =====================================
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mjsSkin.def_property_readonly(
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"id", [](raw::MjsSkin& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsSkin.def("delete", [](raw::MjsSkin& self) { mjs_delete(self.element); });
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// ============================= MJSTEXTURE =================================
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mjsTexture.def("id", [](raw::MjsTexture& self) -> int {
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return mjs_getId(self.element);
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});
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// ============================= MJSTEXTURE ==================================
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mjsTexture.def_property_readonly(
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"id",
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[](raw::MjsTexture& self) -> int { return mjs_getId(self.element); },
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py::return_value_policy::reference_internal);
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mjsTexture.def("delete",
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[](raw::MjsTexture& self) { mjs_delete(self.element); });
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// ============================= MJSKEY =====================================
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// ============================= MJSKEY ======================================
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mjsKey.def("id",
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[](raw::MjsKey& self) -> int { return mjs_getId(self.element); });
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mjsKey.def("delete", [](raw::MjsKey& self) { mjs_delete(self.element); });
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// ============================= MJSTEXT ====================================
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// ============================= MJSTEXT =====================================
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mjsText.def("id", [](raw::MjsText& self) -> int {
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return mjs_getId(self.element);
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});
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mjsText.def("delete", [](raw::MjsText& self) { mjs_delete(self.element); });
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// ============================= MJSNUMERIC =================================
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// ============================= MJSNUMERIC ==================================
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mjsNumeric.def("id", [](raw::MjsNumeric& self) -> int {
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return mjs_getId(self.element);
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});
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mjsNumeric.def("delete",
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[](raw::MjsNumeric& self) { mjs_delete(self.element); });
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// ============================= MJSEXCLUDE ================================
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// ============================= MJSEXCLUDE ==================================
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mjsExclude.def("id", [](raw::MjsExclude& self) -> int {
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return mjs_getId(self.element);
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});
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mjsExclude.def("delete",
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[](raw::MjsExclude& self) { mjs_delete(self.element); });
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// ============================= MJSTUPLE ===================================
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// ============================= MJSTUPLE ====================================
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mjsTuple.def("id", [](raw::MjsTuple& self) -> int {
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return mjs_getId(self.element);
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});
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mjsTuple.def("delete", [](raw::MjsTuple& self) { mjs_delete(self.element); });
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// ============================= MJSPLUGIN ==================================
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// ============================= MJSPLUGIN ===================================
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mjsPlugin.def("id", [](raw::MjsPlugin& self) -> int {
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return mjs_getId(self.instance);
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});
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@@ -961,6 +965,5 @@ PYBIND11_MODULE(_specs, m) {
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[](raw::MjsPlugin& self) { mjs_delete(self.instance); });
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#include "specs.cc.inc"
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} // PYBIND11_MODULE // NOLINT
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} // namespace mujoco::python
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@@ -66,13 +66,15 @@ class SpecsTest(absltest.TestCase):
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self.assertEqual(site.name, 'sitename')
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np.testing.assert_array_equal(site.userdata, [1, 2, 3, 4, 5, 6])
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# Check that the site has no id before compilation.
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self.assertEqual(body.id(), -1)
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# Check that the site and body have no id before compilation.
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self.assertEqual(body.id, -1)
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self.assertEqual(site.id, -1)
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# Compile the spec and check for expected values in the model.
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model = spec.compile()
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self.assertEqual(spec.worldbody.id(), 0)
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self.assertEqual(body.id(), 1)
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self.assertEqual(spec.worldbody.id, 0)
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self.assertEqual(body.id, 1)
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self.assertEqual(site.id, 0)
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self.assertEqual(model.nbody, 2) # 2 bodies, including the world body
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np.testing.assert_array_equal(model.body_pos[1], [1, 2, 3])
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np.testing.assert_array_equal(model.body_quat[1], [0, 1, 0, 0])
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