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Yield ownership of char[], vector<string>, and vector<byte> to mjSpec in Python bindings.

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PiperOrigin-RevId: 681522091
Change-Id: Icb3788d9ef6e914a307531e39ad8171c24f590af
This commit is contained in:
Alessio Quaglino
2024-10-02 11:13:45 -07:00
committed by Copybara-Service
parent 36ee89d6da
commit e973dc74dd
3 changed files with 103 additions and 24 deletions
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python/mujoco/codegen/generate_spec_bindings.py
+13 -19
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@@ -93,15 +93,15 @@ def _array_binding_code(
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> py::array_t<char> {{
return py::array_t<char>({field.extents[0]}, self.{fullvarname});
[]({rawclassname}& self) -> MjTypeVec<char> {{
return MjTypeVec<char>(self.{fullvarname}, {field.extents[0]});
}},
[]({rawclassname}& self, py::object rhs) {{
int i = 0;
for (auto val : rhs) {{
self.{fullvarname}[i++] = py::cast<char>(val);
}}
}}, py::return_value_policy::reference_internal);"""
}}, py::return_value_policy::move);"""
# all other array types
return f"""\
{classname}.def_property(
@@ -158,16 +158,13 @@ def _ptr_binding_code(
self.{fullvarname}->push_back(py::cast<{vartype}>(val));
}}
}}, py::return_value_policy::reference_internal);"""
elif vartype == 'mjByteVec': # C++ buffer -> Python list
elif vartype == 'mjByteVec':
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> py::list {{
py::list list;
for (auto val : *self.{fullvarname}) {{
list.append(val);
}}
return list;
[]({rawclassname}& self) -> MjTypeVec<std::byte> {{
return MjTypeVec<std::byte>(self.{fullvarname}->data(),
self.{fullvarname}->size());
}},
[]({rawclassname}& self, py::object rhs) {{
self.{fullvarname}->clear();
@@ -175,17 +172,14 @@ def _ptr_binding_code(
for (auto val : rhs) {{
self.{fullvarname}->push_back(py::cast<const std::byte>(val));
}}
}}, py::return_value_policy::reference_internal);"""
elif vartype == 'mjStringVec': # C++ vector of strings -> Python list
}}, py::return_value_policy::move);"""
elif vartype == 'mjStringVec':
return f"""\
{classname}.def_property(
"{varname}",
[]({rawclassname}& self) -> py::list {{
py::list list;
for (auto val : *self.{fullvarname}) {{
list.append(val);
}}
return list;
[]({rawclassname}& self) -> MjTypeVec<std::string> {{
return MjTypeVec<std::string>(self.{fullvarname}->data(),
self.{fullvarname}->size());
}},
[]({rawclassname}& self, py::object rhs) {{
self.{fullvarname}->clear();
@@ -193,7 +187,7 @@ def _ptr_binding_code(
for (auto val : rhs) {{
self.{fullvarname}->push_back(py::cast<std::string>(val));
}}
}}, py::return_value_policy::reference_internal);"""
}}, py::return_value_policy::move);"""
elif 'VecVec' in vartype: # C++ vector of vectors -> Python list of lists
vartype = vartype.replace('mj', '').replace('VecVec', '').lower()
return f"""\