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Add find functions for joints, lights, and cameras to mjSpec bindings.

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PiperOrigin-RevId: 717578768
Change-Id: I2087ccbb9cf8b3b8ec03e9eb2edb0707d4a4cac1
This commit is contained in:
Alessio Quaglino
2025-01-20 11:01:00 -08:00
committed by Copybara-Service
parent 600f4acb52
commit 699a6765e3
1 changed files with 21 additions and 0 deletions
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python/mujoco/specs.cc
+21
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@@ -408,6 +408,27 @@ PYBIND11_MODULE(_specs, m) {
return mjs_asGeom(mjs_findElement(self.ptr, mjOBJ_GEOM, name.c_str())); return mjs_asGeom(mjs_findElement(self.ptr, mjOBJ_GEOM, name.c_str()));
}, },
py::return_value_policy::reference_internal); py::return_value_policy::reference_internal);
mjSpec.def(
"find_joint",
[](MjSpec& self, std::string& name) -> raw::MjsJoint* {
return mjs_asJoint(
mjs_findElement(self.ptr, mjOBJ_JOINT, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_light",
[](MjSpec& self, std::string& name) -> raw::MjsLight* {
return mjs_asLight(
mjs_findElement(self.ptr, mjOBJ_LIGHT, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_camera",
[](MjSpec& self, std::string& name) -> raw::MjsCamera* {
return mjs_asCamera(
mjs_findElement(self.ptr, mjOBJ_CAMERA, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def("compile", [mjmodel_from_spec_ptr](MjSpec& self) -> py::object { mjSpec.def("compile", [mjmodel_from_spec_ptr](MjSpec& self) -> py::object {
if (self.assets.empty()) { if (self.assets.empty()) {
return mjmodel_from_spec_ptr(reinterpret_cast<uintptr_t>(self.ptr)); return mjmodel_from_spec_ptr(reinterpret_cast<uintptr_t>(self.ptr));