From 4ae0f51c57f1d72901ed4ce84aa45cb0b8443bab Mon Sep 17 00:00:00 2001
From: Million Integrals <jerry@millionintegrals.com>
Date: Mon, 15 Apr 2019 16:03:45 -0700
Subject: [PATCH] Expose mesh names. (#388)

---
 mujoco_py/generated/wrappers.pxi | 17 ++++++++++++++---
 scripts/gen_wrappers.py          |  5 ++++-
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/mujoco_py/generated/wrappers.pxi b/mujoco_py/generated/wrappers.pxi
index 23894bb2..f0eb061b 100644
--- a/mujoco_py/generated/wrappers.pxi
+++ b/mujoco_py/generated/wrappers.pxi
@@ -1001,9 +1001,9 @@ cdef class PyMjModel(object):
     cdef np.ndarray _name_keyadr
     cdef np.ndarray _names
     
-    cdef readonly tuple body_names, joint_names, geom_names, site_names, light_names, camera_names, actuator_names, sensor_names, tendon_names
-    cdef readonly dict _body_id2name, _joint_id2name, _geom_id2name, _site_id2name, _light_id2name, _camera_id2name, _actuator_id2name, _sensor_id2name, _tendon_id2name
-    cdef readonly dict _body_name2id, _joint_name2id, _geom_name2id, _site_name2id, _light_name2id, _camera_name2id, _actuator_name2id, _sensor_name2id, _tendon_name2id
+    cdef readonly tuple body_names, joint_names, geom_names, site_names, light_names, camera_names, actuator_names, sensor_names, tendon_names, mesh_names
+    cdef readonly dict _body_id2name, _joint_id2name, _geom_id2name, _site_id2name, _light_id2name, _camera_id2name, _actuator_id2name, _sensor_id2name, _tendon_id2name, _mesh_id2name
+    cdef readonly dict _body_name2id, _joint_name2id, _geom_name2id, _site_name2id, _light_name2id, _camera_name2id, _actuator_name2id, _sensor_name2id, _tendon_name2id, _mesh_name2id
 
     def body_id2name(self, id):
         if id not in self._body_id2name:
@@ -1094,6 +1094,16 @@ cdef class PyMjModel(object):
         if name not in self._tendon_name2id:
             raise ValueError("No \"tendon\" with name %s exists. Available \"tendon\" names = %s." % (name, self.tendon_names))
         return self._tendon_name2id[name]
+
+    def mesh_id2name(self, id):
+        if id not in self._mesh_id2name:
+            raise ValueError("No mesh with id %d exists." % id)
+        return self._mesh_id2name[id]
+
+    def mesh_name2id(self, name):
+        if name not in self._mesh_name2id:
+            raise ValueError("No \"mesh\" with name %s exists. Available \"mesh\" names = %s." % (name, self.mesh_names))
+        return self._mesh_name2id[name]
     cdef public tuple userdata_names
     cdef public dict _userdata_id2name
     cdef public dict _userdata_name2id
@@ -1222,6 +1232,7 @@ cdef class PyMjModel(object):
         self.actuator_names, self._actuator_name2id, self._actuator_id2name = self._extract_mj_names(p, p.name_actuatoradr, p.nu, mjtObj.mjOBJ_ACTUATOR)
         self.sensor_names, self._sensor_name2id, self._sensor_id2name = self._extract_mj_names(p, p.name_sensoradr, p.nsensor, mjtObj.mjOBJ_SENSOR)
         self.tendon_names, self._tendon_name2id, self._tendon_id2name = self._extract_mj_names(p, p.name_tendonadr, p.ntendon, mjtObj.mjOBJ_TENDON)
+        self.mesh_names, self._mesh_name2id, self._mesh_id2name = self._extract_mj_names(p, p.name_meshadr, p.nmesh, mjtObj.mjOBJ_MESH)
         self.userdata_names = tuple()
         self._userdata_name2id = dict()
         self._userdata_id2name = dict()
diff --git a/scripts/gen_wrappers.py b/scripts/gen_wrappers.py
index 95a08d08..b26a7a05 100644
--- a/scripts/gen_wrappers.py
+++ b/scripts/gen_wrappers.py
@@ -654,7 +654,8 @@ def {name}(self):
                          'camera',
                          'actuator',
                          'sensor',
-                         'tendon']
+                         'tendon',
+                         'mesh']
             obj_types_names = [o + '_names' for o in obj_types]
             extra += '    cdef readonly tuple ' + ', '.join(obj_types_names) + '\n'
             obj_types_id2names = ['_' + o + '_id2name' for o in obj_types]
@@ -739,6 +740,8 @@ def __dealloc__(self):
                                                'sensor', 'sensor', 'SENSOR')
             extra_set += _set_body_identifiers('tendon',
                                                'tendon', 'tendon', 'TENDON')
+            extra_set += _set_body_identifiers('mesh',
+                                               'mesh', 'mesh', 'MESH')
             # userdata_names is empty at construction time
             extra_set += '        self.userdata_names = tuple()\n'
             extra_set += '        self._userdata_name2id = dict()\n'