Expose mjs_resolveOrientation to the Python API.

PiperOrigin-RevId: 762571376
Change-Id: I08d8394b24670c7f102356da4234b17f1ba4e05f

python/mujoco/specs.cc

@@ -490,6 +490,20 @@ PYBIND11_MODULE(_specs, m) {
       },
       py::arg("name"),
       py::return_value_policy::reference_internal);
+  mjSpec.def_static(
+      "resolve_orientation",
+      [](bool degree, const MjTypeVec<char>& sequence,
+         const raw::MjsOrientation* orientation) -> std::array<double, 4> {
+        std::array<double, 4> quat = {0, 0, 0, 0};
+        const char* err = mjs_resolveOrientation(quat.data(), degree,
+                                                 sequence.ptr, orientation);
+        if (err) {
+          throw pybind11::value_error(err);
+        }
+        return quat;
+      },
+      py::arg("degree"), py::arg("sequence") = py::none(),
+      py::arg("orientation"), py::return_value_policy::copy);
 
   // ============================= MJSBODY =====================================
   mjsBody.def(

python/mujoco/specs_test.py

@@ -16,6 +16,7 @@
 
 import gc
 import inspect
+import math
 import os
 import textwrap
 import typing
@@ -129,6 +130,18 @@ class SpecsTest(absltest.TestCase):
     """)
     self.assertEqual(spec.to_xml(), xml)
 
+  def test_resolve_orientation(self):
+    spec = mujoco.MjSpec()
+    body = spec.worldbody.add_body(euler=[0, 0, 90])
+    quat = mujoco.MjSpec.resolve_orientation(
+        degree=spec.compiler.degree,
+        sequence=spec.compiler.eulerseq,
+        orientation=body.alt,
+    )
+    np.testing.assert_array_almost_equal(
+        quat, [math.sqrt(2) / 2, 0, 0, math.sqrt(2) / 2]
+    )
+
   def test_kwarg(self):
     # Create a spec.
     spec = mujoco.MjSpec()