From ca45041049003d55fc030a254d548edd86b3d54c Mon Sep 17 00:00:00 2001
From: Joss Moore <jossm@google.com>
Date: Mon, 28 Oct 2024 04:54:42 -0700
Subject: [PATCH] MjSpecs.copy should return an MjSpec rather than a
 raw::MjSpec*

raw::MjSpec* is not a good python object.
PiperOrigin-RevId: 690564198
Change-Id: I3a5dd525a3a9acc67bb0e598dd508572dc4c687f
---
 python/mujoco/specs.cc | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
index 96bb7baf..fe7e22fb 100644
--- a/python/mujoco/specs.cc
+++ b/python/mujoco/specs.cc
@@ -323,10 +323,9 @@ PYBIND11_MODULE(_specs, m) {
     return mjmodel_mjdata_from_spec_ptr(reinterpret_cast<uintptr_t>(self.ptr),
                                         m, d);
   });
-  mjSpec.def(
-      "copy",
-      [](const MjSpec& self) -> raw::MjSpec* { return mj_copySpec(self.ptr); },
-      py::return_value_policy::reference_internal);
+  mjSpec.def("copy", [](const MjSpec& self) -> MjSpec {
+    return MjSpec(mj_copySpec(self.ptr));
+  });
   mjSpec.def_property_readonly(
       "worldbody",
       [](MjSpec& self) -> raw::MjsBody* {