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Add support for querying of MjsTendon path from Python.

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Fixes #2670

PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
This commit is contained in:
Sam Haves
2025-10-21 11:50:24 -07:00
committed by Copybara-Service
parent 2f65e23779
commit ac2cd5dfd6
9 changed files with 411 additions and 11 deletions
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python/mujoco/introspect/functions.py
+94
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@@ -10471,6 +10471,66 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc="Return spec's next element; return NULL if element is last.",
)),
('mjs_getWrapTarget',
FunctionDecl(
name='mjs_getWrapTarget',
return_type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
parameters=(
FunctionParameterDecl(
name='wrap',
type=PointerType(
inner_type=ValueType(name='mjsWrap'),
),
),
),
doc='Get wrapped element in tendon path.',
)),
('mjs_getWrapSideSite',
FunctionDecl(
name='mjs_getWrapSideSite',
return_type=PointerType(
inner_type=ValueType(name='mjsSite'),
),
parameters=(
FunctionParameterDecl(
name='wrap',
type=PointerType(
inner_type=ValueType(name='mjsWrap'),
),
),
),
doc='Get wrapped element side site in tendon path if it has one, nullptr otherwise.', # pylint: disable=line-too-long
)),
('mjs_getWrapDivisor',
FunctionDecl(
name='mjs_getWrapDivisor',
return_type=ValueType(name='double'),
parameters=(
FunctionParameterDecl(
name='wrap',
type=PointerType(
inner_type=ValueType(name='mjsWrap'),
),
),
),
doc='Get divisor of mjsWrap wrapping a puller.',
)),
('mjs_getWrapCoef',
FunctionDecl(
name='mjs_getWrapCoef',
return_type=ValueType(name='double'),
parameters=(
FunctionParameterDecl(
name='wrap',
type=PointerType(
inner_type=ValueType(name='mjsWrap'),
),
),
),
doc='Get coefficient of mjsWrap wrapping a joint.',
)),
('mjs_setName',
FunctionDecl(
name='mjs_setName',
@@ -10794,6 +10854,40 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Get double array contents and optionally its size.',
)),
('mjs_getWrapNum',
FunctionDecl(
name='mjs_getWrapNum',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='tendonspec',
type=PointerType(
inner_type=ValueType(name='mjsTendon', is_const=True),
),
),
),
doc='Get number of elements a tendon wraps.',
)),
('mjs_getWrap',
FunctionDecl(
name='mjs_getWrap',
return_type=PointerType(
inner_type=ValueType(name='mjsWrap'),
),
parameters=(
FunctionParameterDecl(
name='tendonspec',
type=PointerType(
inner_type=ValueType(name='mjsTendon', is_const=True),
),
),
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
),
doc='Get mjsWrap element at position i in the tendon path.',
)),
('mjs_getPluginAttributes',
FunctionDecl(
name='mjs_getPluginAttributes',