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add mjs_detachDefault to delete a default class from mjSpec

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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
This commit is contained in:
Tom Power
2025-03-19 10:30:08 -07:00
committed by Copybara-Service
parent a1b9ffd124
commit be64747166
18 changed files with 261 additions and 24 deletions
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python/mujoco/specs.cc
+6 -1
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@@ -448,7 +448,7 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
mjSpec.def(
"find_default",
[](MjSpec& self, std::string& classname) -> const raw::MjsDefault* {
[](MjSpec& self, std::string& classname) -> raw::MjsDefault* {
return mjs_findDefault(self.ptr, classname.c_str());
},
py::return_value_policy::reference_internal);
@@ -499,6 +499,11 @@ PYBIND11_MODULE(_specs, m) {
return mjs_addDefault(spec->ptr, classname.c_str(), parent);
},
py::return_value_policy::reference_internal);
mjSpec.def("detach_default", [](MjSpec& self, raw::MjsDefault& def) {
if (mjs_detachDefault(self.ptr, &def) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjSpec.def_property_readonly(
"default",
[](MjSpec& self) -> raw::MjsDefault* {