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Add mjs_findElement() to find any element in a spec by name.

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Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
This commit is contained in:
Alessio Quaglino
2024-09-04 08:23:18 -07:00
committed by Copybara-Service
parent 0e8c0b80eb
commit d3dfa6f970
13 changed files with 149 additions and 156 deletions
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python/mujoco/specs.cc
-12
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@@ -133,24 +133,12 @@ PYBIND11_MODULE(_specs, m) {
return mjs_findBody(self.ptr, name.c_str());
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_mesh",
[](MjSpec& self, std::string& name) -> raw::MjsMesh* {
return mjs_findMesh(self.ptr, name.c_str());
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_frame",
[](MjSpec& self, std::string& name) -> raw::MjsFrame* {
return mjs_findFrame(self.ptr, name.c_str());
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_keyframe",
[](MjSpec& self, std::string& name) -> raw::MjsKey* {
return mjs_findKeyframe(self.ptr, name.c_str());
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_default",
[](MjSpec& self, std::string& classname) -> raw::MjsDefault* {