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Return attached body/frame in mjs_attachBody/Frame.

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PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
This commit is contained in:
Alessio Quaglino
2024-09-27 08:32:52 -07:00
committed by Copybara-Service
parent 176345b4e1
commit 25e4d75a07
11 changed files with 67 additions and 45 deletions
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doc/APIreference/functions.rst
+2 -2
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@@ -3793,7 +3793,7 @@ mjs_attachBody
.. mujoco-include:: mjs_attachBody
Attach child body to a parent frame, return 0 on success.
Attach child body to a parent frame, return the attached body if success or NULL otherwise.
.. _mjs_attachFrame:
@@ -3802,7 +3802,7 @@ mjs_attachFrame
.. mujoco-include:: mjs_attachFrame
Attach child frame to a parent body, return 0 on success.
Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
.. _mjs_detachBody:
doc/includes/references.h
+4 -4
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@@ -3550,10 +3550,10 @@ void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);
void mju_threadPoolDestroy(mjThreadPool* thread_pool);
void mju_defaultTask(mjTask* task);
void mju_taskJoin(mjTask* task);
int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
int mjs_detachBody(mjSpec* s, mjsBody* b);
mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
mjsSite* mjs_addSite(mjsBody* body, mjsDefault* def);
include/mujoco/mujoco.h
+6 -6
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@@ -1404,13 +1404,13 @@ MJAPI void mju_taskJoin(mjTask* task);
//---------------------------------- Attachment ----------------------------------------------------
// Attach child body to a parent frame, return 0 on success.
MJAPI int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Attach child body to a parent frame, return the attached body if success or NULL otherwise.
MJAPI mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Attach child frame to a parent body, return 0 on success.
MJAPI int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
MJAPI mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Detach body from mjSpec, remove all references and delete the body, return 0 on success.
MJAPI int mjs_detachBody(mjSpec* s, mjsBody* b);
introspect/functions.py
+8 -4
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@@ -8945,7 +8945,9 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
('mjs_attachBody',
FunctionDecl(
name='mjs_attachBody',
return_type=ValueType(name='int'),
return_type=PointerType(
inner_type=ValueType(name='mjsBody'),
),
parameters=(
FunctionParameterDecl(
name='parent',
@@ -8972,12 +8974,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc='Attach child body to a parent frame, return 0 on success.',
doc='Attach child body to a parent frame, return the attached body if success or NULL otherwise.', # pylint: disable=line-too-long
)),
('mjs_attachFrame',
FunctionDecl(
name='mjs_attachFrame',
return_type=ValueType(name='int'),
return_type=PointerType(
inner_type=ValueType(name='mjsFrame'),
),
parameters=(
FunctionParameterDecl(
name='parent',
@@ -9004,7 +9008,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc='Attach child frame to a parent body, return 0 on success.',
doc='Attach child frame to a parent body, return the attached frame if success or NULL otherwise.', # pylint: disable=line-too-long
)),
('mjs_detachBody',
FunctionDecl(
python/mujoco/specs.cc
+14 -9
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@@ -683,11 +683,13 @@ PYBIND11_MODULE(_specs, m) {
"spec",
[](raw::MjsBody& self) -> raw::MjSpec* { return mjs_getSpec(&self); },
py::return_value_policy::reference_internal);
mjsBody.def("attach_frame",
[](raw::MjsBody& self, raw::MjsFrame& frame, std::string& prefix,
std::string& suffix) -> void {
mjs_attachFrame(&self, &frame, prefix.c_str(), suffix.c_str());
});
mjsBody.def(
"attach_frame",
[](raw::MjsBody& self, raw::MjsFrame& frame, std::string& prefix,
std::string& suffix) -> raw::MjsFrame* {
return mjs_attachFrame(&self, &frame, prefix.c_str(), suffix.c_str());
},
py::return_value_policy::reference_internal);
// ============================= MJSFRAME ====================================
mjsFrame.def_property_readonly(
@@ -696,10 +698,13 @@ PYBIND11_MODULE(_specs, m) {
mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
});
mjsFrame.def("attach_body", [](raw::MjsFrame& self, raw::MjsBody& body,
std::string& prefix, std::string& suffix) {
mjs_attachBody(&self, &body, prefix.c_str(), suffix.c_str());
});
mjsFrame.def(
"attach_body",
[](raw::MjsFrame& self, raw::MjsBody& body, std::string& prefix,
std::string& suffix) -> raw::MjsBody* {
return mjs_attachBody(&self, &body, prefix.c_str(), suffix.c_str());
},
py::return_value_policy::reference_internal);
// ============================= MJSGEOM =====================================
mjsGeom.def_property_readonly(
src/user/user_api.cc
+12 -8
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@@ -117,33 +117,37 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
// attach body to a frame of the parent
int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix) {
mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix) {
mjCFrame* frame_parent = static_cast<mjCFrame*>(parent->element);
mjCBody* child_body = static_cast<mjCBody*>(child->element);
try {
*frame_parent += std::string(prefix) + *child_body + std::string(suffix);
} catch (mjCError& e) {
frame_parent->model->SetError(e);
return -1;
return nullptr;
}
return 0;
mjsBody* attached_body = frame_parent->last_attached;
frame_parent->last_attached = nullptr;
return attached_body;
}
// attach frame to a parent body
int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix) {
mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix) {
mjCBody* body_parent = static_cast<mjCBody*>(parent->element);
mjCFrame* child_frame = static_cast<mjCFrame*>(child->element);
try {
*body_parent += std::string(prefix) + *child_frame + std::string(suffix);
} catch (mjCError& e) {
body_parent->model->SetError(e);
return -1;
return nullptr;
}
return 0;
mjsFrame* attached_frame = body_parent->last_attached;
body_parent->last_attached = nullptr;
return attached_frame;
}
src/user/user_api.h
+4 -4
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@@ -66,12 +66,12 @@ MJAPI void mjs_addSpec(mjSpec* s, mjSpec* child);
//---------------------------------- Attachment ----------------------------------------------------
// Attach child body to a parent frame, return 0 on success.
MJAPI int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
// Attach child body to a parent frame, return the attached body if success or NULL otherwise.
MJAPI mjsBody* mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix);
// Attach child frame to a parent body, return 0 on success.
MJAPI int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
// Attach child frame to a parent body, return the attached frame if success or NULL otherwise.
MJAPI mjsFrame* mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix);
// Detach body from mjSpec, remove all references and delete the body, return 0 on success.
src/user/user_objects.cc
+5
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@@ -762,6 +762,7 @@ mjCBody::mjCBody(mjCModel* _model) {
margin = 0;
mjuu_zerovec(xpos0, 3);
mjuu_setvec(xquat0, 1, 0, 0, 0);
last_attached = nullptr;
// clear object lists
bodies.clear();
@@ -860,7 +861,9 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
frames.back()->body = this;
frames.back()->model = model;
frames.back()->frame = other.frame;
frames.back()->NameSpace(other.model);
int i = frames.size();
last_attached = &frames.back()->spec;
// map input frames to index in this->frames
std::map<mjCFrame*, int> fmap;
@@ -1723,6 +1726,7 @@ mjCFrame::mjCFrame(mjCModel* _model, mjCFrame* _frame) {
model = _model;
body = NULL;
frame = _frame ? _frame : NULL;
last_attached = nullptr;
PointToLocal();
CopyFromSpec();
}
@@ -1771,6 +1775,7 @@ mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
// add to body children
body->bodies.push_back(subtree);
last_attached = &body->bodies.back()->spec;
// attach referencing elements
*model += *other.model;
src/user/user_objects.h
+4
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@@ -331,6 +331,8 @@ class mjCBody : public mjCBody_, private mjsBody {
mjtNum* mpos(const std::string& state_name);
mjtNum* mquat(const std::string& state_name);
mjsFrame* last_attached; // last attached frame to this body
private:
mjCBody(const mjCBody& other, mjCModel* _model); // copy constructor
mjCBody& operator=(const mjCBody& other); // copy assignment
@@ -398,6 +400,8 @@ class mjCFrame : public mjCFrame_, private mjsFrame {
bool IsAncestor(const mjCFrame* child) const; // true if child is contained in this frame
mjsBody* last_attached; // last attached body to this frame
private:
void Compile(void); // compiler
src/xml/xml_native_reader.cc
+2 -2
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@@ -3627,7 +3627,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
UpdateString(suffix, count, i);
// attach to parent
if (mjs_attachFrame(body, pframe, /*prefix=*/"", suffix.c_str()) != 0) {
if (!mjs_attachFrame(body, pframe, /*prefix=*/"", suffix.c_str())) {
throw mjXError(elem, mjs_getError(spec));
}
}
@@ -3704,7 +3704,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
if (!child) {
throw mjXError(0, "could not find body '%s''%s'", body_name.c_str());
}
if (mjs_attachBody(pframe, child, prefix.c_str(), "") != 0) {
if (!mjs_attachBody(pframe, child, prefix.c_str(), "")) {
throw mjXError(elem, mjs_getError(spec));
}
} else {
test/user/user_api_test.cc
+6 -6
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@@ -660,8 +660,8 @@ TEST_F(MujocoTest, AttachSame) {
EXPECT_THAT(body, NotNull());
// attach child to parent frame
EXPECT_THAT(
mjs_attachBody(frame, body, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);
mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
// compile new model
mjModel* m_attached = mj_compile(parent, 0);
@@ -782,8 +782,8 @@ TEST_F(MujocoTest, AttachDifferent) {
EXPECT_THAT(body, NotNull());
// attach child to parent frame
EXPECT_EQ(
mjs_attachBody(frame, body, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);
mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
// compile new model
mjModel* m_attached = mj_compile(parent, 0);
@@ -904,8 +904,8 @@ TEST_F(MujocoTest, AttachFrame) {
EXPECT_THAT(frame, NotNull());
// attach child frame to parent body
EXPECT_THAT(
mjs_attachFrame(body, frame, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);
mjsFrame* attached = mjs_attachFrame(body, frame, "attached-", "-1");
EXPECT_THAT(attached, mjs_findFrame(parent, "attached-pframe-1"));
// compile new model
mjModel* m_attached = mj_compile(parent, 0);