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Autogenerate mjSpec find_* methods.

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PiperOrigin-RevId: 725255440
Change-Id: Ia9112f6c582ea9bb0af38aa97a917e72a98a84f5
This commit is contained in:
Alessio Quaglino
2025-02-10 10:03:00 -08:00
committed by Copybara-Service
parent 94115ecf08
commit e54f3c222d
2 changed files with 46 additions and 85 deletions
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python/mujoco/specs.cc
-59
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@@ -395,71 +395,12 @@ PYBIND11_MODULE(_specs, m) {
return mjs_findBody(self.ptr, "world");
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_body",
[](MjSpec& self, std::string& name) -> raw::MjsBody* {
return mjs_findBody(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_site",
[](MjSpec& self, std::string& name) -> raw::MjsSite* {
return mjs_asSite(mjs_findElement(self.ptr, mjOBJ_SITE, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_actuator",
[](MjSpec& self, std::string& name) -> raw::MjsActuator* {
return mjs_asActuator(
mjs_findElement(self.ptr, mjOBJ_ACTUATOR, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_sensor",
[](MjSpec& self, std::string& name) -> raw::MjsSensor* {
return mjs_asSensor(
mjs_findElement(self.ptr, mjOBJ_SENSOR, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_default",
[](MjSpec& self, std::string& classname) -> const raw::MjsDefault* {
return mjs_findDefault(self.ptr, classname.c_str());
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_geom",
[](MjSpec& self, std::string& name) -> raw::MjsGeom* {
return mjs_asGeom(mjs_findElement(self.ptr, mjOBJ_GEOM, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_joint",
[](MjSpec& self, std::string& name) -> raw::MjsJoint* {
return mjs_asJoint(
mjs_findElement(self.ptr, mjOBJ_JOINT, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_light",
[](MjSpec& self, std::string& name) -> raw::MjsLight* {
return mjs_asLight(
mjs_findElement(self.ptr, mjOBJ_LIGHT, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def(
"find_camera",
[](MjSpec& self, std::string& name) -> raw::MjsCamera* {
return mjs_asCamera(
mjs_findElement(self.ptr, mjOBJ_CAMERA, name.c_str()));
},
py::return_value_policy::reference_internal);
mjSpec.def("compile", [mjmodel_from_spec_ptr](MjSpec& self) -> py::object {
if (self.assets.empty()) {
return mjmodel_from_spec_ptr(reinterpret_cast<uintptr_t>(self.ptr));