Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

python/mujoco/enums.cc

@@ -0,0 +1,62 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <sstream>
+#include <type_traits>
+
+#include "util/crossplatform.h"
+#include "enum_traits.h"
+#include "util/tuple_tools.h"
+#include <pybind11/pybind11.h>
+
+namespace mujoco::python {
+namespace {
+namespace py = ::pybind11;
+template <typename Trait>
+MUJOCO_ALWAYS_INLINE
+void DefEnum(py::module_& m) {
+  py::enum_<typename Trait::type> e(m, Trait::name);
+  for (const auto& [name, enumerator] : Trait::values) {
+    e.value(name, enumerator);
+  }
+
+  e.def(py::init([](int value) {
+          for (const auto& [name, enumerator] : Trait::values) {
+            if (value == enumerator) {
+              return static_cast<typename Trait::type>(value);
+            }
+          }
+          std::ostringstream err;
+          err << "Invalid int value for " << Trait::name << ": " << value;
+          throw py::value_error(err.str());
+        }),
+        py::arg("value"), py::prepend());
+}
+
+template <typename Tuple>
+MUJOCO_ALWAYS_INLINE
+void DefAllEnums(py::module_& m, Tuple&& tuple) {
+  using TupleNoRef = std::remove_reference_t<Tuple>;
+  if constexpr (std::tuple_size_v<TupleNoRef> != 0) {
+    using Trait = std::remove_reference_t<std::tuple_element_t<0, TupleNoRef>>;
+    DefEnum<Trait>(m);
+    DefAllEnums(m, util::tuple_slice<1, void>(tuple));
+  }
+}
+
+PYBIND11_MODULE(_enums, pymodule) {
+  DefAllEnums(pymodule, python_traits::kAllEnums);
+}
+}  // namespace
+}  // namespace mujoco::python