Implement __repr__ and __eq__ on MjrRect in Python bindings.

PiperOrigin-RevId: 457457401
Change-Id: I0d395ff301fbcf775b4766ac81c830a625b3be63

python/mujoco/structs.cc

@@ -74,87 +74,6 @@ constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
   }
 }
 
-// An equals operator that works for comparing numpy arrays too.
-// Unlike other objects, the equality operator for numpy arrays returns a
-// numpy array.
-bool FieldsEqual(py::handle lhs, py::handle rhs, py::handle array_equal) {
-  // np.array_equal handles non-arrays.
-  return PyObject_IsTrue(array_equal(lhs, rhs).ptr());
-}
-
-// Returns an iterable object for iterating over attributes of T.
-template <typename T>
-py::object Dir() {
-  py::object type = py::type::of<T>();
-  auto dir = py::reinterpret_steal<py::object>(PyObject_Dir(type.ptr()));
-  if (PyErr_Occurred()) {
-    throw py::error_already_set();
-  }
-  return dir;
-}
-
-// Returns true if all public fields in lhs and rhs are equal.
-template <typename T>
-bool StructsEqual(py::object lhs, py::object rhs) {
-  // Equivalent to the following python code:
-  // if type(lhs) != type(rhs):
-  //   return False
-  // for field in dir(lhs):
-  //   if field.startswith("_"):
-  //     continue
-  //   # equal() handles equality of numpy arrays
-  //   if not equal(getattr(lhs, field, None), getattr(rhs, field, None)):
-  //     return False
-  //
-  // return True
-
-  auto np = py::module::import("numpy");
-  auto array_equal = np.attr("array_equal");
-
-  const py::handle lhs_t = py::type::handle_of(lhs);
-  const py::handle rhs_t = py::type::handle_of(rhs);
-  if (!lhs_t.is(rhs_t)) {
-    return false;
-  }
-  for (py::handle f : Dir<T>()) {
-    auto name = f.cast<std::string_view>();
-
-    if (name.empty() || name[0] == '_') {
-      continue;
-    }
-    py::object l = py::getattr(lhs, f, py::none());
-    py::object r = py::getattr(rhs, f, py::none());
-    if (!FieldsEqual(l, r, array_equal)) {
-      return false;
-    }
-  }
-  return true;
-}
-
-// Returns a string representation of a struct like object.
-template <typename T>
-std::string StructRepr(py::object self) {
-  std::ostringstream result;
-  result << "<"
-         << self.attr("__class__").attr("__name__").cast<std::string_view>();
-  for (py::handle f : Dir<T>()) {
-    auto name = f.cast<std::string_view>();
-    if (name.empty() || name[0] == '_') {
-      continue;
-    }
-
-    result << "\n  " << name << ": "
-           << self.attr(f).attr("__repr__")().cast<std::string_view>();
-  }
-  result << "\n>";
-  return result.str();
-}
-
-template <typename C, typename... O>
-void DefineStructFunctions(py::class_<C, O...> c) {
-  c.def("__eq__", StructsEqual<C>);
-  c.def("__repr__", StructRepr<C>);
-}
 }  // namespace
 
 // ==================== MJOPTION ===============================================