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Automatically compile mjSpec in to_xml().

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Also, move mj_compile from MjModelWrapper to MjSpec.

PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
This commit is contained in:
Alessio Quaglino
2025-03-17 09:20:29 -07:00
committed by Copybara-Service
parent 35774706ee
commit da04688071
7 changed files with 54 additions and 61 deletions
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python/mujoco/structs.cc
+4 -18
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@@ -408,12 +408,7 @@ MjModelWrapper MjModelWrapper::LoadXML(
return MjModelWrapper(model);
}
MjModelWrapper MjModelWrapper::CompileSpec(raw::MjSpec* spec,
const mjVFS* vfs) {
auto m = mj_compile(spec, vfs);
if (!m || mjs_isWarning(spec)) {
throw py::value_error(mjs_getError(spec));
}
MjModelWrapper MjModelWrapper::WrapRawModel(raw::MjModel* m) {
return MjModelWrapper(m);
}
@@ -1616,18 +1611,9 @@ PYBIND11_MODULE(_structs, m) {
py::arg("xml"), py::arg_v("assets", py::none()),
py::doc(
R"(Loads an MjModel from an XML string and an optional assets dictionary.)"));
mjModel.def_static(
"_from_spec_ptr", [](uintptr_t addr) {
return MjModelWrapper::CompileSpec(
reinterpret_cast<raw::MjSpec*>(addr),
nullptr);
});
mjModel.def_static(
"_from_spec_ptr", [](uintptr_t addr, uintptr_t vfs) {
return MjModelWrapper::CompileSpec(
reinterpret_cast<raw::MjSpec*>(addr),
reinterpret_cast<mjVFS*>(vfs));
});
mjModel.def_static("_from_model_ptr", [](uintptr_t addr) {
return MjModelWrapper::WrapRawModel(reinterpret_cast<raw::MjModel*>(addr));
});
mjModel.def_static(
"from_xml_path", &MjModelWrapper::LoadXMLFile,
py::arg("filename"), py::arg_v("assets", py::none()),