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Add auto-generated tree element lists to Python bindings.

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PiperOrigin-RevId: 680973047
Change-Id: I948151260cba330c6b7218cecf13aae2c7ae92c7
This commit is contained in:
Alessio Quaglino
2024-10-01 05:22:07 -07:00
committed by Copybara-Service
parent 62ec802ec1
commit 8a825e6050
3 changed files with 60 additions and 229 deletions
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python/mujoco/codegen/generate_spec_bindings.py
+40 -25
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@@ -252,31 +252,31 @@ def generate() -> None:
def generate_add() -> None:
"""Generate add constructors with optional keyword arguments."""
for key, parent, default in [
('mjsSite', 'Body', True),
('mjsGeom', 'Body', True),
('mjsJoint', 'Body', True),
('mjsLight', 'Body', True),
('mjsCamera', 'Body', True),
('mjsBody', 'Body', True),
('mjsFrame', 'Body', True),
('mjsMaterial', 'Spec', True),
('mjsMesh', 'Spec', True),
('mjsPair', 'Spec', True),
('mjsEquality', 'Spec', True),
('mjsTendon', 'Spec', True),
('mjsActuator', 'Spec', True),
('mjsSkin', 'Spec', False),
('mjsTexture', 'Spec', False),
('mjsText', 'Spec', False),
('mjsTuple', 'Spec', False),
('mjsFlex', 'Spec', False),
('mjsHField', 'Spec', False),
('mjsKey', 'Spec', False),
('mjsNumeric', 'Spec', False),
('mjsExclude', 'Spec', False),
('mjsSensor', 'Spec', False),
('mjsPlugin', 'Spec', False),
for key, parent, default, listname, objtype in [
('mjsSite', 'Body', True, 'sites', 'mjOBJ_SITE'),
('mjsGeom', 'Body', True, 'geoms', 'mjOBJ_GEOM'),
('mjsJoint', 'Body', True, 'joints', 'mjOBJ_JOINT'),
('mjsLight', 'Body', True, 'lights', 'mjOBJ_LIGHT'),
('mjsCamera', 'Body', True, 'cameras', 'mjOBJ_CAMERA'),
('mjsBody', 'Body', True, 'bodies', 'mjOBJ_BODY'),
('mjsFrame', 'Body', True, 'frames', 'mjOBJ_FRAME'),
('mjsMaterial', 'Spec', True, 'materials', 'mjOBJ_MATERIAL'),
('mjsMesh', 'Spec', True, 'meshes', 'mjOBJ_MESH'),
('mjsPair', 'Spec', True, 'pairs', 'mjOBJ_PAIR'),
('mjsEquality', 'Spec', True, 'equalities', 'mjOBJ_EQUALITY'),
('mjsTendon', 'Spec', True, 'tendons', 'mjOBJ_TENDON'),
('mjsActuator', 'Spec', True, 'actuators', 'mjOBJ_ACTUATOR'),
('mjsSkin', 'Spec', False, 'skins', 'mjOBJ_SKIN'),
('mjsTexture', 'Spec', False, 'textures', 'mjOBJ_TEXTURE'),
('mjsText', 'Spec', False, 'texts', 'mjOBJ_TEXT'),
('mjsTuple', 'Spec', False, 'tuples', 'mjOBJ_TUPLE'),
('mjsFlex', 'Spec', False, 'flexes', 'mjOBJ_FLEX'),
('mjsHField', 'Spec', False, 'hfields', 'mjOBJ_HFIELD'),
('mjsKey', 'Spec', False, 'keys', 'mjOBJ_KEY'),
('mjsNumeric', 'Spec', False, 'numerics', 'mjOBJ_NUMERIC'),
('mjsExclude', 'Spec', False, 'excludes', 'mjOBJ_EXCLUDE'),
('mjsSensor', 'Spec', False, 'sensors', 'mjOBJ_SENSOR'),
('mjsPlugin', 'Spec', False, 'plugins', 'mjOBJ_PLUGIN'),
]:
def _field(f: ast_nodes.StructFieldDecl):
@@ -561,6 +561,21 @@ def generate_add() -> None:
py::return_value_policy::reference_internal);
"""
code += f"""\n
mjSpec.def_property_readonly(
"{listname}",
[](MjSpec& self) -> py::list {{
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, {objtype});
while (el) {{
list.append(mjs_as{key[3:]}(el));
el = mjs_nextElement(self.ptr, el);
}}
return list;
}},
py::return_value_policy::reference_internal);
"""
print(code)