Change set_default and default to classname in the bindings.
Having defaults in the names of the attribute or function names is confusing for the users since the defaults are not re-applied but are only used for writing to XML. The alternative would be to change mjs_setDefault to re-apply them, but this would overwrite any other attribute set by the user so far. PiperOrigin-RevId: 726431090 Change-Id: I41f4a23e1722e278b0ecc0a00b07db9b384fe994
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
89253d957d
commit
1b4258d274
+55
-73
@@ -595,16 +595,14 @@ PYBIND11_MODULE(_specs, m) {
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[](raw::MjsBody& self, raw::MjsFrame& frame) -> void {
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mjs_setFrame(self.element, &frame);
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});
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mjsBody.def("set_default",
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[](raw::MjsBody& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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mjsBody.def(
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"default",
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mjsBody.def_property(
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"classname",
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[](raw::MjsBody& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsBody& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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mjsBody.def(
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"find_all",
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[](raw::MjsBody& self, mjtObj objtype) -> py::list {
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@@ -837,63 +835,60 @@ PYBIND11_MODULE(_specs, m) {
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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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});
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mjsGeom.def("set_default", [](raw::MjsGeom& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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});
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mjsGeom.def_property_readonly(
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"parent",
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[](raw::MjsGeom& self) -> raw::MjsBody* {
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return mjs_getParent(self.element);
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},
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py::return_value_policy::reference_internal);
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mjsGeom.def(
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"default",
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mjsGeom.def_property(
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"classname",
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[](raw::MjsGeom& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsGeom& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSJOINT ====================================
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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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});
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mjsJoint.def("set_default", [](raw::MjsJoint& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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});
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mjsJoint.def_property_readonly(
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"parent",
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[](raw::MjsJoint& self) -> raw::MjsBody* {
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return mjs_getParent(self.element);
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},
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py::return_value_policy::reference_internal);
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mjsJoint.def(
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"default",
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mjsJoint.def_property(
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"classname",
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[](raw::MjsJoint& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsJoint& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSSITE =====================================
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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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});
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mjsSite.def("set_default", [](raw::MjsSite& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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});
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mjsSite.def_property_readonly(
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"parent",
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[](raw::MjsSite& self) -> raw::MjsBody* {
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return mjs_getParent(self.element);
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},
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py::return_value_policy::reference_internal);
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mjsSite.def(
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"default",
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mjsSite.def_property(
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"classname",
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[](raw::MjsSite& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsSite& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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mjsSite.def(
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"attach_body",
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[](raw::MjsSite& self, raw::MjsBody& body,
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@@ -918,115 +913,102 @@ PYBIND11_MODULE(_specs, m) {
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mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
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mjs_setFrame(self.element, &frame);
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});
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mjsCamera.def("set_default", [](raw::MjsCamera& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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});
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mjsCamera.def_property_readonly(
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"parent",
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[](raw::MjsCamera& self) -> raw::MjsBody* {
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return mjs_getParent(self.element);
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},
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py::return_value_policy::reference_internal);
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mjsCamera.def(
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"default",
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mjsCamera.def_property(
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"classname",
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[](raw::MjsCamera& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsCamera& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSLIGHT ====================================
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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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});
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mjsLight.def("set_default", [](raw::MjsLight& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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});
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mjsLight.def_property_readonly(
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"parent",
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[](raw::MjsLight& self) -> raw::MjsBody* {
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return mjs_getParent(self.element);
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},
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py::return_value_policy::reference_internal);
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mjsLight.def(
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"default",
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mjsLight.def_property(
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"classname",
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[](raw::MjsLight& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsLight& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSMATERIAL =================================
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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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[](raw::MjsMaterial& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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});
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mjsMaterial.def(
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"default",
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mjsMaterial.def_property(
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"classname",
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[](raw::MjsMaterial& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsMaterial& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSMESH =====================================
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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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});
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mjsMesh.def(
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"default",
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mjsMesh.def_property(
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"classname",
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[](raw::MjsMesh& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsMesh& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSPAIR =====================================
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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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});
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mjsPair.def(
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"default",
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mjsPair.def_property(
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"classname",
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[](raw::MjsPair& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsPair& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSEQUAL ====================================
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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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[](raw::MjsEquality& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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});
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mjsEquality.def(
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"default",
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mjsEquality.def_property(
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"classname",
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[](raw::MjsEquality& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsEquality& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSACTUATOR =================================
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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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[](raw::MjsActuator& self, raw::MjsDefault& def) {
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mjs_setDefault(self.element, &def);
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});
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mjsActuator.def(
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"default",
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mjsActuator.def_property(
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"classname",
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[](raw::MjsActuator& self) -> raw::MjsDefault* {
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return mjs_getDefault(self.element);
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},
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py::return_value_policy::reference_internal);
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[](raw::MjsActuator& self, raw::MjsDefault& default_) -> void {
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mjs_setDefault(self.element, &default_);
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});
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// ============================= MJSTENDON ===================================
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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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mjs_setDefault(self.element, &def);
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});
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mjsTendon.def(
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"default",
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[](raw::MjsTendon& self) -> raw::MjsDefault* {
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