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Add mjs_makeFlex to the MuJoCo C and Python APIs.

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- Add mjs_makeFlex C API that wraps mjCFlexcomp::Make(), creating
  a flex with auto-generated bodies, joints, and equality constraints
  from parameters (type, dim, dof, count, cellcount, spacing, scale,
  radius, mass, inertiabox, equality, rigid, flatskin, elastic2d,
  pos, quat, origin, file, vfs).
- Add Python binding body.make_flex() in specs.cc with keyword args.
- Refactor flex_spec_provision.py to use make_flex() instead of XML
  string templating + separate spec + attach. Eliminates textwrap
  dependency.
- Merge user_flexcomp into user_model BUILD target to resolve
  circular dependency.

PiperOrigin-RevId: 922725304
Change-Id: Ice13787c45f3173407fec659f9590a6453bc65dd
This commit is contained in:
Alessio Quaglino
2026-05-28 05:58:47 -07:00
committed by Copybara-Service
parent b9fb817af8
commit 4c381635e1
11 changed files with 506 additions and 2 deletions
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wasm/codegen/generated/bindings.cc
+17
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@@ -9952,6 +9952,22 @@ int mjs_isWarning_wrapper(MjSpec& s) {
return mjs_isWarning(s.get());
}
std::optional<MjsFlex> mjs_makeFlex_wrapper(MjsBody& body, const String& name, const StringOrNull& type, int dim, const StringOrNull& dof, const NumberArray& count, const NumberArray& cellcount, const NumberArray& spacing, const NumberArray& scale, double radius, double mass, double inertiabox, int equality, int rigid, int flatskin, int elastic2d, const NumberArray& pos, const NumberArray& quat, const NumberArray& origin, const StringOrNull& file, const MjVFS& vfs) {
CHECK_VAL(name);
UNPACK_NULLABLE_ARRAY(int, count);
UNPACK_NULLABLE_ARRAY(int, cellcount);
UNPACK_NULLABLE_ARRAY(double, spacing);
UNPACK_NULLABLE_ARRAY(double, scale);
UNPACK_NULLABLE_ARRAY(double, pos);
UNPACK_NULLABLE_ARRAY(double, quat);
UNPACK_NULLABLE_ARRAY(double, origin);
mjsFlex* result = mjs_makeFlex(body.get(), name.as<const std::string>().data(), type.as<const std::string>().data(), dim, dof.as<const std::string>().data(), count_.data(), cellcount_.data(), spacing_.data(), scale_.data(), radius, mass, inertiabox, equality, rigid, flatskin, elastic2d, pos_.data(), quat_.data(), origin_.data(), file.as<const std::string>().data(), vfs.get());
if (result == nullptr) {
return std::nullopt;
}
return MjsFlex(result);
}
int mjs_makeMesh_wrapper(MjsMesh& mesh, mjtMeshBuiltin builtin, const val& params, int nparams) {
UNPACK_VALUE(double, params);
return mjs_makeMesh(mesh.get(), builtin, params_.data(), nparams);
@@ -13474,6 +13490,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mjs_getWrapSideSite", &mjs_getWrapSideSite_wrapper);
function("mjs_getWrapTarget", &mjs_getWrapTarget_wrapper);
function("mjs_isWarning", &mjs_isWarning_wrapper);
function("mjs_makeFlex", &mjs_makeFlex_wrapper);
function("mjs_makeMesh", &mjs_makeMesh_wrapper);
function("mjs_nextChild", &mjs_nextChild_wrapper);
function("mjs_nextElement", &mjs_nextElement_wrapper);