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Add bind() method to MjModel and MjData.

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This method allows users to bind a spec to a model or data object, making it less verbose to access its arrays.

PiperOrigin-RevId: 699952211
Change-Id: I6b71a88d5a6968bc0f902bd49db7c568b46a4dfb
This commit is contained in:
Alessio Quaglino
2024-11-25 05:53:03 -08:00
committed by Copybara-Service
parent 13b6055098
commit c6ba8f27fd
6 changed files with 75 additions and 17 deletions
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python/mujoco/structs.cc
+24
View File
@@ -1716,6 +1716,18 @@ This is useful for example when the MJB is not available as a file on disk.)"));
MJMODEL_VIEW_GROUPS
#undef XGROUP
#define XGROUP(spectype, field) \
mjModel.def( \
"bind", \
[](MjModelWrapper& m, spectype& spec) -> auto& { \
return m.indexer().field##_by_name(mjs_getString(spec.name)); \
}, \
py::return_value_policy::reference_internal, \
py::arg_v("spec", py::none()));
MJMODEL_BIND_GROUPS
#undef XGROUP
#define XGROUP(field, altname, FIELD_XMACROS) \
mjModel.def( \
#altname, \
@@ -2050,6 +2062,18 @@ This is useful for example when the MJB is not available as a file on disk.)"));
MJDATA_VIEW_GROUPS
#undef XGROUP
#define XGROUP(spectype, field) \
mjData.def( \
"bind", \
[](MjDataWrapper& d, spectype& spec) -> auto& { \
return d.indexer().field##_by_name(mjs_getString(spec.name)); \
}, \
py::return_value_policy::reference_internal, \
py::arg_v("spec", py::none()));
MJDATA_BIND_GROUPS
#undef XGROUP
#define XGROUP(field, altname, FIELD_XMACROS) \
mjData.def( \
#altname, \