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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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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(