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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/specs.cc
-204
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@@ -333,210 +333,6 @@ PYBIND11_MODULE(_specs, m) {
mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
mjs_detachBody(self.ptr, &body);
});
mjSpec.def_property_readonly(
"plugins",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_PLUGIN);
while (el) {
list.append(mjs_asPlugin(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"actuators",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_ACTUATOR);
while (el) {
list.append(mjs_asActuator(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"sensors",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SENSOR);
while (el) {
list.append(mjs_asSensor(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"flexes",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_FLEX);
while (el) {
list.append(mjs_asFlex(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"pairs",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_PAIR);
while (el) {
list.append(mjs_asPair(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"equality",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EQUALITY);
while (el) {
list.append(mjs_asEquality(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"excludes",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_EXCLUDE);
while (el) {
list.append(mjs_asExclude(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"tendons",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TENDON);
while (el) {
list.append(mjs_asTendon(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"numeric",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_NUMERIC);
while (el) {
list.append(mjs_asNumeric(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"text",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXT);
while (el) {
list.append(mjs_asText(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"tuple",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TUPLE);
while (el) {
list.append(mjs_asTuple(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"key",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_KEY);
while (el) {
list.append(mjs_asKey(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"mesh",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MESH);
while (el) {
list.append(mjs_asMesh(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"hfield",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_HFIELD);
while (el) {
list.append(mjs_asHField(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"skin",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_SKIN);
while (el) {
list.append(mjs_asSkin(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"texture",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_TEXTURE);
while (el) {
list.append(mjs_asTexture(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
mjSpec.def_property_readonly(
"material",
[](MjSpec& self) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstElement(self.ptr, mjOBJ_MATERIAL);
while (el) {
list.append(mjs_asMaterial(el));
el = mjs_nextElement(self.ptr, el);
}
return list;
},
py::return_value_policy::reference_internal);
// ============================= MJSBODY =====================================
mjsBody.def_property_readonly(