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Add missing id attributes in Python bindings of mjsElements.

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PiperOrigin-RevId: 649435098
Change-Id: I16383958c25cb8fdc16a107d5abef8626a675632
This commit is contained in:
Yuval Tassa
2024-07-04 09:31:45 -07:00
committed by Copybara-Service
parent 57e6760ec9
commit 47d25bc4ac
1 changed files with 219 additions and 234 deletions
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python/mujoco/specs.cc
+219 -234
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@@ -18,7 +18,7 @@
#include <memory>
#include <string>
#include <string_view> // IWYU pragma: keep
#include <vector> // IWYU pragma: keep
#include <vector> // IWYU pragma: keep
#include <Eigen/Core>
#include <Eigen/Eigen>
@@ -298,202 +298,201 @@ PYBIND11_MODULE(_specs, m) {
mjs_detachBody(self.ptr, &body);
});
mjSpec.def_property_readonly(
"actuators",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_ACTUATOR);
while (el) {
list.append(mjs_asActuator(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"actuators",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_ACTUATOR);
while (el) {
list.append(mjs_asActuator(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"sensors",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SENSOR);
while (el) {
list.append(mjs_asSensor(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"sensors",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SENSOR);
while (el) {
list.append(mjs_asSensor(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"flexes",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_FLEX);
while (el) {
list.append(mjs_asFlex(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"flexes",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_FLEX);
while (el) {
list.append(mjs_asFlex(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"pairs",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_PAIR);
while (el) {
list.append(mjs_asPair(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"pairs",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_PAIR);
while (el) {
list.append(mjs_asPair(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"equality",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EQUALITY);
while (el) {
list.append(mjs_asEquality(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"equality",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EQUALITY);
while (el) {
list.append(mjs_asEquality(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"excludes",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EXCLUDE);
while (el) {
list.append(mjs_asExclude(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"excludes",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EXCLUDE);
while (el) {
list.append(mjs_asExclude(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"tendons",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TENDON);
while (el) {
list.append(mjs_asTendon(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"tendons",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TENDON);
while (el) {
list.append(mjs_asTendon(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"numeric",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_NUMERIC);
while (el) {
list.append(mjs_asNumeric(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"numeric",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_NUMERIC);
while (el) {
list.append(mjs_asNumeric(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"text",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXT);
while (el) {
list.append(mjs_asText(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"text",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXT);
while (el) {
list.append(mjs_asText(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"tuple",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TUPLE);
while (el) {
list.append(mjs_asTuple(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"tuple",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TUPLE);
while (el) {
list.append(mjs_asTuple(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"key",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_KEY);
while (el) {
list.append(mjs_asKey(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"key",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_KEY);
while (el) {
list.append(mjs_asKey(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"mesh",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MESH);
while (el) {
list.append(mjs_asMesh(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"mesh",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MESH);
while (el) {
list.append(mjs_asMesh(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"hfield",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_HFIELD);
while (el) {
list.append(mjs_asHField(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"hfield",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_HFIELD);
while (el) {
list.append(mjs_asHField(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"skin",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SKIN);
while (el) {
list.append(mjs_asSkin(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"skin",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SKIN);
while (el) {
list.append(mjs_asSkin(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"texture",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXTURE);
while (el) {
list.append(mjs_asTexture(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"texture",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXTURE);
while (el) {
list.append(mjs_asTexture(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"material",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MATERIAL);
while (el) {
list.append(mjs_asMaterial(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
"material",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MATERIAL);
while (el) {
list.append(mjs_asMaterial(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
// ============================= MJSBODY =====================================
mjsBody.def_property_readonly(
"id", [](raw::MjsBody& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsBody& self) -> int { return mjs_getId(self.element); });
mjsBody.def("delete", [](raw::MjsBody& self) { mjs_delete(self.element); });
mjsBody.def(
"add_body",
@@ -666,8 +665,7 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSFRAME ====================================
mjsFrame.def_property_readonly(
"id", [](raw::MjsFrame& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsFrame& self) -> int { return mjs_getId(self.element); });
mjsFrame.def("delete", [](raw::MjsFrame& self) { mjs_delete(self.element); });
mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
@@ -679,8 +677,7 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSGEOM =====================================
mjsGeom.def_property_readonly(
"id", [](raw::MjsGeom& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsGeom& self) -> int { return mjs_getId(self.element); });
mjsGeom.def("delete", [](raw::MjsGeom& self) { mjs_delete(self.element); });
mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
@@ -697,8 +694,7 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSJOINT ====================================
mjsJoint.def_property_readonly(
"id", [](raw::MjsJoint& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsJoint& self) -> int { return mjs_getId(self.element); });
mjsJoint.def("delete", [](raw::MjsJoint& self) { mjs_delete(self.element); });
mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
@@ -715,8 +711,7 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSSITE =====================================
mjsSite.def_property_readonly(
"id", [](raw::MjsSite& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsSite& self) -> int { return mjs_getId(self.element); });
mjsSite.def("delete", [](raw::MjsSite& self) { mjs_delete(self.element); });
mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
@@ -732,9 +727,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSCAMERA ===================================
mjsCamera.def_property_readonly(
"id", [](raw::MjsCamera& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
mjsCamera.def_property_readonly("id", [](raw::MjsCamera& self) -> int {
return mjs_getId(self.element);
});
mjsCamera.def("delete",
[](raw::MjsCamera& self) { mjs_delete(self.element); });
mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
@@ -752,8 +747,7 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSLIGHT ====================================
mjsLight.def_property_readonly(
"id", [](raw::MjsLight& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsLight& self) -> int { return mjs_getId(self.element); });
mjsLight.def("delete", [](raw::MjsLight& self) { mjs_delete(self.element); });
mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
@@ -769,10 +763,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSMATERIAL =================================
mjsMaterial.def_property_readonly(
"id",
[](raw::MjsMaterial& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
mjsMaterial.def_property_readonly("id", [](raw::MjsMaterial& self) -> int {
return mjs_getId(self.element);
});
mjsMaterial.def("delete",
[](raw::MjsMaterial& self) { mjs_delete(self.element); });
mjsMaterial.def("set_default",
@@ -788,8 +781,7 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSMESH =====================================
mjsMesh.def_property_readonly(
"id", [](raw::MjsMesh& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsMesh& self) -> int { return mjs_getId(self.element); });
mjsMesh.def("delete", [](raw::MjsMesh& self) { mjs_delete(self.element); });
mjsMesh.def("set_default", [](raw::MjsMesh& self, raw::MjsDefault& def) {
mjs_setDefault(self.element, &def);
@@ -803,8 +795,7 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSPAIR =====================================
mjsPair.def_property_readonly(
"id", [](raw::MjsPair& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsPair& self) -> int { return mjs_getId(self.element); });
mjsPair.def("delete", [](raw::MjsPair& self) { mjs_delete(self.element); });
mjsPair.def("set_default", [](raw::MjsPair& self, raw::MjsDefault& def) {
mjs_setDefault(self.element, &def);
@@ -817,10 +808,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSEQUAL ====================================
mjsEquality.def_property_readonly(
"id",
[](raw::MjsEquality& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
mjsEquality.def_property_readonly("id", [](raw::MjsEquality& self) -> int {
return mjs_getId(self.element);
});
mjsEquality.def("delete",
[](raw::MjsEquality& self) { mjs_delete(self.element); });
mjsEquality.def("set_default",
@@ -835,10 +825,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSACTUATOR =================================
mjsActuator.def_property_readonly(
"id",
[](raw::MjsActuator& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
mjsActuator.def_property_readonly("id", [](raw::MjsActuator& self) -> int {
return mjs_getId(self.element);
});
mjsActuator.def("delete",
[](raw::MjsActuator& self) { mjs_delete(self.element); });
mjsActuator.def("set_default",
@@ -853,9 +842,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSTENDON ===================================
mjsTendon.def_property_readonly(
"id", [](raw::MjsTendon& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
mjsTendon.def_property_readonly("id", [](raw::MjsTendon& self) -> int {
return mjs_getId(self.element);
});
mjsTendon.def("delete",
[](raw::MjsTendon& self) { mjs_delete(self.element); });
mjsTendon.def("set_default", [](raw::MjsTendon& self, raw::MjsDefault& def) {
@@ -893,22 +882,21 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
// ============================= MJSSENSOR ===================================
mjsSensor.def_property_readonly(
"id", [](raw::MjsSensor& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
mjsSensor.def_property_readonly("id", [](raw::MjsSensor& self) -> int {
return mjs_getId(self.element);
});
mjsSensor.def("delete",
[](raw::MjsSensor& self) { mjs_delete(self.element); });
// ============================= MJSFLEX =====================================
mjsFlex.def_property_readonly(
"id", [](raw::MjsFlex& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
"id", [](raw::MjsFlex& self) -> int { return mjs_getId(self.element); });
mjsFlex.def("delete", [](raw::MjsFlex& self) { mjs_delete(self.element); });
// ============================= MJSHFIELD ===================================
mjsHField.def_property_readonly(
"id", [](raw::MjsHField& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
mjsHField.def_property_readonly("id", [](raw::MjsHField& self) -> int {
return mjs_getId(self.element);
});
mjsHField.def("delete",
[](raw::MjsHField& self) { mjs_delete(self.element); });
@@ -919,46 +907,43 @@ PYBIND11_MODULE(_specs, m) {
mjsSkin.def("delete", [](raw::MjsSkin& self) { mjs_delete(self.element); });
// ============================= MJSTEXTURE ==================================
mjsTexture.def_property_readonly(
"id",
[](raw::MjsTexture& self) -> int { return mjs_getId(self.element); },
py::return_value_policy::reference_internal);
mjsTexture.def_property_readonly("id", [](raw::MjsTexture& self) -> int {
return mjs_getId(self.element);
});
mjsTexture.def("delete",
[](raw::MjsTexture& self) { mjs_delete(self.element); });
// ============================= MJSKEY ======================================
mjsKey.def("id",
[](raw::MjsKey& self) -> int { return mjs_getId(self.element); });
mjsKey.def_property_readonly(
"id", [](raw::MjsKey& self) -> int { return mjs_getId(self.element); });
mjsKey.def("delete", [](raw::MjsKey& self) { mjs_delete(self.element); });
// ============================= MJSTEXT =====================================
mjsText.def("id", [](raw::MjsText& self) -> int {
return mjs_getId(self.element);
});
mjsText.def_property_readonly(
"id", [](raw::MjsText& self) -> int { return mjs_getId(self.element); });
mjsText.def("delete", [](raw::MjsText& self) { mjs_delete(self.element); });
// ============================= MJSNUMERIC ==================================
mjsNumeric.def("id", [](raw::MjsNumeric& self) -> int {
mjsNumeric.def_property_readonly("id", [](raw::MjsNumeric& self) -> int {
return mjs_getId(self.element);
});
mjsNumeric.def("delete",
[](raw::MjsNumeric& self) { mjs_delete(self.element); });
// ============================= MJSEXCLUDE ==================================
mjsExclude.def("id", [](raw::MjsExclude& self) -> int {
mjsExclude.def_property_readonly("id", [](raw::MjsExclude& self) -> int {
return mjs_getId(self.element);
});
mjsExclude.def("delete",
[](raw::MjsExclude& self) { mjs_delete(self.element); });
// ============================= MJSTUPLE ====================================
mjsTuple.def("id", [](raw::MjsTuple& self) -> int {
return mjs_getId(self.element);
});
mjsTuple.def_property_readonly(
"id", [](raw::MjsTuple& self) -> int { return mjs_getId(self.element); });
mjsTuple.def("delete", [](raw::MjsTuple& self) { mjs_delete(self.element); });
// ============================= MJSPLUGIN ===================================
mjsPlugin.def("id", [](raw::MjsPlugin& self) -> int {
mjsPlugin.def_property_readonly("id", [](raw::MjsPlugin& self) -> int {
return mjs_getId(self.instance);
});
mjsPlugin.def("delete",