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
2024-10-28 04:54:42 -07:00
parent d8494fef3b
commit ca45041049
1 changed files with 3 additions and 4 deletions
@@ -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* {