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Add mjs_bodyToFrame() to convert a body to a frame.

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Also add test for attaching the world body.

PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
This commit is contained in:
Alessio Quaglino
2024-10-14 00:38:26 -07:00
committed by Copybara-Service
parent 52a0149cd1
commit 766cd20273
12 changed files with 169 additions and 6 deletions
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python/mujoco/specs.cc
+11
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@@ -573,6 +573,17 @@ PYBIND11_MODULE(_specs, m) {
return new_frame;
},
py::return_value_policy::reference_internal);
mjsBody.def(
"to_frame",
[](raw::MjsBody* self) -> raw::MjsFrame* {
raw::MjsFrame* frame = mjs_bodyToFrame(&self);
if (!frame) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
// TODO: set the body to py::none
return frame;
},
py::return_value_policy::reference_internal);
// ============================= MJSFRAME ====================================
mjsFrame.def_property_readonly(