chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Replace name attribute with setters and getters in the C API of mjSpec.

Browse Source 
PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
This commit is contained in:
Alessio Quaglino
2025-07-03 02:29:49 -07:00
committed by Copybara-Service
parent 1c5d47c94b
commit 594e17074a
22 changed files with 290 additions and 400 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/specs.cc
+24 -12
View File
@@ -521,7 +521,8 @@ PYBIND11_MODULE(_specs, m) {
}
} else if (key == "name") {
try {
*out->name = kwargs["name"].cast<std::string>();
mjs_setName(out->element,
kwargs["name"].cast<std::string>().c_str());
} catch (const py::cast_error& e) {
throw pybind11::value_error("name is the wrong type.");
}
@@ -552,7 +553,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsBody& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
mjsBody.def(
"find_all",
[](raw::MjsBody& self, mjtObj objtype) -> py::list {
@@ -819,7 +821,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsGeom& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
mjsGeom.def_property_readonly(
"frame",
[](raw::MjsGeom& self) -> raw::MjsFrame* {
@@ -849,7 +852,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsJoint& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
mjsJoint.def_property_readonly(
"frame",
[](raw::MjsJoint& self) -> raw::MjsFrame* {
@@ -879,7 +883,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsSite& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
mjsSite.def(
"attach_body",
[](raw::MjsSite& self, raw::MjsBody& body,
@@ -926,7 +931,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsCamera& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
mjsCamera.def_property_readonly(
"frame",
[](raw::MjsCamera& self) -> raw::MjsFrame* {
@@ -956,7 +962,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsLight& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
mjsLight.def_property_readonly(
"frame",
[](raw::MjsLight& self) -> raw::MjsFrame* {
@@ -975,7 +982,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsMaterial& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
// ============================= MJSMESH =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsMesh& obj) {
@@ -988,7 +996,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsMesh& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
// ============================= MJSPAIR =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsPair& obj) {
@@ -1001,7 +1010,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsPair& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
// ============================= MJSEQUAL ====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsEquality& obj) {
@@ -1014,7 +1024,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsEquality& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
// ============================= MJSACTUATOR =================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsActuator& obj) {
@@ -1027,7 +1038,8 @@ PYBIND11_MODULE(_specs, m) {
},
[](raw::MjsActuator& self, raw::MjsDefault& default_) -> void {
mjs_setDefault(self.element, &default_);
});
},
py::return_value_policy::reference_internal);
mjsActuator.def("set_to_motor", [](raw::MjsActuator* self) {
std::string err = mjs_setToMotor(self);
if (!err.empty()) {