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Add _all_fields to MjOption, MjModel, MjData for struct introspection.

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PiperOrigin-RevId: 810066486
Change-Id: I807104fc955a505512287f63b7c184a29c0d150e
This commit is contained in:
Erik Frey
2025-09-22 10:26:22 -07:00
committed by Copybara-Service
parent a5ed4ee223
commit 6aa06d2f43
1 changed files with 35 additions and 0 deletions
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python/mujoco/structs.cc
+35
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@@ -97,6 +97,19 @@ PYBIND11_MODULE(_structs, m) {
mjOption.def("__deepcopy__", [](const MjOptionWrapper& other, py::dict) { mjOption.def("__deepcopy__", [](const MjOptionWrapper& other, py::dict) {
return MjOptionWrapper(other); return MjOptionWrapper(other);
}); });
mjOption.def_property_readonly_static("_all_fields", [](py::object) {
std::vector<std::string> fields;
#define X(dtype, name) fields.push_back(#name);
MJOPTION_FLOATS
#undef X
#define X(name, dim0) fields.push_back(#name);
MJOPTION_VECTORS
#undef X
#define X(dtype, name) fields.push_back(#name);
MJOPTION_INTS
#undef X
return py::tuple(py::cast(fields));
});
DefineStructFunctions(mjOption); DefineStructFunctions(mjOption);
#define X(type, var) \ #define X(type, var) \
@@ -417,6 +430,17 @@ This is useful for example when the MJB is not available as a file on disk.)"));
return py::tuple(py::cast(fields)); return py::tuple(py::cast(fields));
}); });
mjModel.def_property_readonly_static("_all_fields", [](py::object) {
std::vector<std::string> fields;
#define X(var) fields.push_back(#var);
MJMODEL_INTS
#undef X
#define X(type, name, nr, nc) fields.push_back(#name);
MJMODEL_POINTERS
#undef X
return py::tuple(py::cast(fields));
});
#define X(dtype, var, dim0, dim1) \ #define X(dtype, var, dim0, dim1) \
if constexpr (std::string_view(#var) != "text_data" && \ if constexpr (std::string_view(#var) != "text_data" && \
std::string_view(#var) != "names" && \ std::string_view(#var) != "names" && \
@@ -748,6 +772,17 @@ This is useful for example when the MJB is not available as a file on disk.)"));
py::cast(other.model()).attr("__deepcopy__")(memo); py::cast(other.model()).attr("__deepcopy__")(memo);
return MjDataWrapper(other, new_model_py.cast<MjModelWrapper*>()); return MjDataWrapper(other, new_model_py.cast<MjModelWrapper*>());
}); });
mjData.def_property_readonly_static("_all_fields", [](py::object) {
std::vector<std::string> fields;
#define X(dtype, name) fields.push_back(#name);
MJDATA_SCALAR
#undef X
#define X(dtype, name, dim0, dim1) fields.push_back(#name);
MJDATA_VECTOR
MJDATA_POINTERS
#undef X
return py::tuple(py::cast(fields));
});
mjData.def(py::pickle( mjData.def(py::pickle(
[](const MjDataWrapper& d) { // __getstate__ [](const MjDataWrapper& d) { // __getstate__
std::ostringstream output(std::ios::out | std::ios::binary); std::ostringstream output(std::ios::out | std::ios::binary);