Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors.
PiperOrigin-RevId: 675929024 Change-Id: Idd8c584276d8f585b79585230f5167f79760eaef
This commit is contained in:
Taylor Howell
committed by
Copybara-Service
Copybara-Service
parent
4975c35657
commit
bfda9f4ace
+30
-95
@@ -271,92 +271,6 @@ PYBIND11_MODULE(_specs, m) {
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return mjs_getSpecDefault(self.ptr);
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},
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_material",
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[](MjSpec& self, raw::MjsDefault* default_) -> raw::MjsMaterial* {
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return mjs_addMaterial(self.ptr, default_);
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},
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py::arg_v("default", nullptr),
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_mesh",
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[](MjSpec& self, raw::MjsDefault* default_) -> raw::MjsMesh* {
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return mjs_addMesh(self.ptr, default_);
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},
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py::arg_v("default", nullptr),
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_skin",
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[](MjSpec& self) -> raw::MjsSkin* { return mjs_addSkin(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_texture",
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[](MjSpec& self) -> raw::MjsTexture* { return mjs_addTexture(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_text",
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[](MjSpec& self) -> raw::MjsText* { return mjs_addText(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_tuple",
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[](MjSpec& self) -> raw::MjsTuple* { return mjs_addTuple(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_flex",
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[](MjSpec& self) -> raw::MjsFlex* { return mjs_addFlex(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_hfield",
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[](MjSpec& self) -> raw::MjsHField* { return mjs_addHField(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_key",
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[](MjSpec& self) -> raw::MjsKey* { return mjs_addKey(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_numeric",
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[](MjSpec& self) -> raw::MjsNumeric* { return mjs_addNumeric(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_pair",
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[](MjSpec& self, raw::MjsDefault* default_) -> raw::MjsPair* {
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return mjs_addPair(self.ptr, default_);
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},
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py::arg_v("default", nullptr),
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_exclude",
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[](MjSpec& self) -> raw::MjsExclude* { return mjs_addExclude(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_equality",
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[](MjSpec& self, raw::MjsDefault* default_) -> raw::MjsEquality* {
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return mjs_addEquality(self.ptr, default_);
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},
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py::arg_v("default", nullptr),
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_tendon",
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[](MjSpec& self, raw::MjsDefault* default_) -> raw::MjsTendon* {
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return mjs_addTendon(self.ptr, default_);
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},
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py::arg_v("default", nullptr),
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_sensor",
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[](MjSpec& self) -> raw::MjsSensor* { return mjs_addSensor(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_actuator",
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[](MjSpec& self, raw::MjsDefault* default_) -> raw::MjsActuator* {
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return mjs_addActuator(self.ptr, default_);
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},
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py::arg_v("default", nullptr),
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py::return_value_policy::reference_internal);
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mjSpec.def(
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"add_plugin",
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[](MjSpec& self) -> raw::MjsPlugin* { return mjs_addPlugin(self.ptr); },
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py::return_value_policy::reference_internal);
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mjSpec.def("detach_body", [](MjSpec& self, raw::MjsBody& body) {
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mjs_detachBody(self.ptr, &body);
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});
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@@ -556,17 +470,38 @@ PYBIND11_MODULE(_specs, m) {
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// ============================= MJSBODY =====================================
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mjsBody.def_property_readonly(
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"id", [](raw::MjsBody& self) -> int { return mjs_getId(self.element); });
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mjsBody.def(
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"add_frame",
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[](raw::MjsBody& self, raw::MjsFrame* parentframe_) -> raw::MjsFrame* {
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return mjs_addFrame(&self, parentframe_);
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},
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py::arg_v("default", nullptr),
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py::return_value_policy::reference_internal);
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mjsBody.def(
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"add_freejoint",
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[](raw::MjsBody& self) -> raw::MjsJoint* {
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return mjs_addFreeJoint(&self);
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[](raw::MjsBody& self, py::kwargs kwargs) -> raw::MjsJoint* {
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auto out = mjs_addFreeJoint(&self);
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py::dict kwarg_dict = kwargs;
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for (auto item : kwarg_dict) {
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std::string key = py::str(item.first);
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if (key == "align") {
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try {
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out->align = kwargs["align"].cast<int>();
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} catch (const py::cast_error& e) {
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throw pybind11::value_error("align is the wrong type.");
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}
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} else if (key == "name") {
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try {
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*out->name = kwargs["name"].cast<std::string>();
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} catch (const py::cast_error& e) {
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throw pybind11::value_error("name is the wrong type.");
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}
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} else if (key == "group") {
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try {
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out->group = kwargs["group"].cast<int>();
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} catch (const py::cast_error& e) {
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throw pybind11::value_error("group is the wrong type.");
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}
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} else {
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throw pybind11::type_error(
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"Invalid '" + key +
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"' keyword argument. Valid options are: align, group, name.");
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}
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}
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return out;
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},
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py::return_value_policy::reference_internal);
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mjsBody.def("set_frame",
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