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Add mjSpec bindings.

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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com>
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
This commit is contained in:
Alessio Quaglino
2024-07-01 12:04:52 -07:00
committed by Copybara-Service
parent f2c3be470f
commit 9106f40e2b
19 changed files with 1588 additions and 10 deletions
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python/mujoco/structs.h
+12 -5
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@@ -462,6 +462,10 @@ class MjWrapper<raw::MjModel> : public WrapperBase<raw::MjModel> {
public:
MjWrapper(const MjWrapper&);
MjWrapper(MjWrapper&&);
// Takes ownership of the raw mjModel pointer.
explicit MjWrapper(raw::MjModel* ptr);
~MjWrapper();
MjModelIndexer& indexer() { return indexer_; }
@@ -485,6 +489,8 @@ class MjWrapper<raw::MjModel> : public WrapperBase<raw::MjModel> {
const std::optional<
std::unordered_map<std::string, pybind11::bytes>>& assets);
static MjWrapper CompileSpec(raw::MjSpec* spec);
static constexpr char kFromRawPointer[] =
"__MUJOCO_STRUCTS_MJMODELWRAPPER_LOOKUP";
static MjWrapper* FromRawPointer(raw::MjModel* m) noexcept;
@@ -502,8 +508,6 @@ class MjWrapper<raw::MjModel> : public WrapperBase<raw::MjModel> {
pybind11::bytes paths_bytes;
protected:
explicit MjWrapper(raw::MjModel* ptr);
MjModelIndexer indexer_;
};
@@ -591,8 +595,14 @@ class MjWrapper<raw::MjData>: public WrapperBase<raw::MjData> {
explicit MjWrapper(MjModelWrapper* model);
MjWrapper(const MjWrapper& other);
MjWrapper(MjWrapper&&);
// Used for deepcopy
MjWrapper(const MjWrapper& other, MjModelWrapper* model);
// Internal constructor which takes ownership of given mjData pointer.
// Used for deserialization and recompile.
explicit MjWrapper(MjModelWrapper* model, raw::MjData* d);
~MjWrapper();
const MjModelWrapper& model() const { return *model_; }
@@ -622,9 +632,6 @@ class MjWrapper<raw::MjData>: public WrapperBase<raw::MjData> {
py_array_or_tuple_t<mjtNum> energy;
protected:
// Internal constructor which takes ownership of given mjData pointer.
// Used for deserialization.
explicit MjWrapper(MjModelWrapper* model, raw::MjData* d);
raw::MjData* Copy() const;
// A reference to the model that was used to create this mjData.