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Drop find_ prefix in Python MjSpec methods accessing elements by name.

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PiperOrigin-RevId: 725594833
Change-Id: Ibf8a9918e98b298751d0ef2e657714e28e5fa460
This commit is contained in:
Alessio Quaglino
2025-02-11 05:49:48 -08:00
committed by Copybara-Service
parent a6dd5f086f
commit cef5b31a3f
4 changed files with 35 additions and 34 deletions
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python/mujoco/codegen/generate_spec_bindings.py
+1 -1
View File
@@ -583,7 +583,7 @@ def generate_find() -> None:
elemlower = elem.lower()
titlecase = 'Mjs' + elem
code = f"""\n
mjSpec.def("find_{elemlower}",
mjSpec.def("{elemlower}",
[](MjSpec& self, std::string& name) -> raw::{titlecase}* {{
return mjs_as{elem}(
mjs_findElement(self.ptr, {objtype}, name.c_str()));
python/mujoco/specs_test.py
+12 -12
View File
@@ -617,12 +617,12 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(spec.actuators[0].name, 'actuator1')
self.assertEqual(spec.actuators[1].name, 'actuator2')
self.assertEqual(spec.actuators[2].name, 'actuator3')
self.assertEqual(spec.find_sensor('sensor1'), sensor1)
self.assertEqual(spec.find_sensor('sensor2'), sensor2)
self.assertEqual(spec.find_sensor('sensor3'), sensor3)
self.assertEqual(spec.find_actuator('actuator1'), actuator1)
self.assertEqual(spec.find_actuator('actuator2'), actuator2)
self.assertEqual(spec.find_actuator('actuator3'), actuator3)
self.assertEqual(spec.sensor('sensor1'), sensor1)
self.assertEqual(spec.sensor('sensor2'), sensor2)
self.assertEqual(spec.sensor('sensor3'), sensor3)
self.assertEqual(spec.actuator('actuator1'), actuator1)
self.assertEqual(spec.actuator('actuator2'), actuator2)
self.assertEqual(spec.actuator('actuator3'), actuator3)
def test_body_list(self):
main_xml = """
@@ -709,12 +709,12 @@ class SpecsTest(absltest.TestCase):
spec = mujoco.MjSpec.from_string(main_xml)
geom1 = spec.worldbody.add_geom(name='geom1')
geom2 = spec.worldbody.add_geom(name='geom2')
geom3 = spec.find_body('body1').add_geom(name='geom3')
geom3 = spec.body('body1').add_geom(name='geom3')
self.assertEqual(spec.geoms, [geom1, geom2, geom3])
self.assertEqual(spec.find_geom('geom1'), geom1)
self.assertEqual(spec.find_geom('geom2'), geom2)
self.assertEqual(spec.find_geom('geom3'), geom3)
self.assertEqual(spec.geom('geom1'), geom1)
self.assertEqual(spec.geom('geom2'), geom2)
self.assertEqual(spec.geom('geom3'), geom3)
def test_iterators(self):
spec = mujoco.MjSpec()
@@ -801,11 +801,11 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(model.nsite, 11)
self.assertEqual(model.nsensor, 11)
head = spec.find_body('head')
head = spec.body('head')
self.assertIsNotNone(head)
site = head.first_site()
self.assertIsNotNone(site)
self.assertEqual(site, spec.find_site('head'))
self.assertEqual(site, spec.site('head'))
site.delete()
spec.sensors[-1].delete()