add find_geom property to mjSpec

PiperOrigin-RevId: 716225290 Change-Id: Ie6e229b0e802e7df06148f994d598334592e8ad1
2025-01-16 07:19:03 -08:00
parent f899e717d4
commit 4903d5321c
2 changed files with 24 additions and 0 deletions
@@ -402,6 +402,12 @@ PYBIND11_MODULE(_specs, m) {
        return mjs_findDefault(self.ptr, classname.c_str());
      },
      py::return_value_policy::reference_internal);
+  mjSpec.def(
+      "find_geom",
+      [](MjSpec& self, std::string& name) -> raw::MjsGeom* {
+        return mjs_asGeom(mjs_findElement(self.ptr, mjOBJ_GEOM, name.c_str()));
+      },
+      py::return_value_policy::reference_internal);
  mjSpec.def("compile", [mjmodel_from_spec_ptr](MjSpec& self) -> py::object {
    if (self.assets.empty()) {
      return mjmodel_from_spec_ptr(reinterpret_cast<uintptr_t>(self.ptr));