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Change site.attach to accept a spec instead of a body.

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Add site.attach_body for attaching a body to a site.

PiperOrigin-RevId: 703047770
Change-Id: Ibc1f916f8741872135220461cda7cebc4b418913
This commit is contained in:
Alessio Quaglino
2024-12-05 03:09:17 -08:00
committed by Copybara-Service
parent 10239a673b
commit 503e5e1815
2 changed files with 62 additions and 14 deletions
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python/mujoco/specs.cc
+23 -1
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@@ -746,7 +746,7 @@ PYBIND11_MODULE(_specs, m) {
},
py::return_value_policy::reference_internal);
mjsSite.def(
"attach",
"attach_body",
[](raw::MjsSite& self, raw::MjsBody& body,
std::optional<std::string>& prefix,
std::optional<std::string>& suffix) -> raw::MjsBody* {
@@ -762,6 +762,28 @@ PYBIND11_MODULE(_specs, m) {
py::arg("body"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),
py::return_value_policy::reference_internal);
mjsSite.def(
"attach",
[](raw::MjsSite& self, MjSpec& spec,
std::optional<std::string>& prefix,
std::optional<std::string>& suffix) -> raw::MjsFrame* {
auto world = mjs_findBody(spec.ptr, "world");
if (!world) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
const char* p = prefix.has_value() ? prefix.value().c_str() : "";
const char* s = suffix.has_value() ? suffix.value().c_str() : "";
auto attached_world = mjs_attachToSite(&self, world, p, s);
if (!attached_world) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
return mjs_bodyToFrame(&attached_world);
},
py::arg("body"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),
py::return_value_policy::reference_internal);
// ============================= MJSCAMERA ===================================
mjsCamera.def("delete",