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Combine all mjs_attach functions into one.

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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
This commit is contained in:
Alessio Quaglino
2025-04-01 08:04:58 -07:00
committed by Copybara-Service
parent 08d22baea1
commit a02a27d4a4
13 changed files with 202 additions and 319 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/introspect/functions.py
+6 -108
View File
@@ -9000,23 +9000,23 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Wait for a task to complete.',
)),
('mjs_attachBody',
('mjs_attach',
FunctionDecl(
name='mjs_attachBody',
name='mjs_attach',
return_type=PointerType(
inner_type=ValueType(name='mjsBody'),
inner_type=ValueType(name='mjsElement'),
),
parameters=(
FunctionParameterDecl(
name='parent',
type=PointerType(
inner_type=ValueType(name='mjsFrame'),
inner_type=ValueType(name='mjsElement'),
),
),
FunctionParameterDecl(
name='child',
type=PointerType(
inner_type=ValueType(name='mjsBody', is_const=True),
inner_type=ValueType(name='mjsElement', is_const=True),
),
),
FunctionParameterDecl(
@@ -9032,109 +9032,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc='Attach child body to a parent frame, return the attached body if success or NULL otherwise.', # pylint: disable=line-too-long
)),
('mjs_attachFrame',
FunctionDecl(
name='mjs_attachFrame',
return_type=PointerType(
inner_type=ValueType(name='mjsFrame'),
),
parameters=(
FunctionParameterDecl(
name='parent',
type=PointerType(
inner_type=ValueType(name='mjsBody'),
),
),
FunctionParameterDecl(
name='child',
type=PointerType(
inner_type=ValueType(name='mjsFrame', is_const=True),
),
),
FunctionParameterDecl(
name='prefix',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='suffix',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Attach child frame to a parent body, return the attached frame if success or NULL otherwise.', # pylint: disable=line-too-long
)),
('mjs_attachToSite',
FunctionDecl(
name='mjs_attachToSite',
return_type=PointerType(
inner_type=ValueType(name='mjsBody'),
),
parameters=(
FunctionParameterDecl(
name='parent',
type=PointerType(
inner_type=ValueType(name='mjsSite'),
),
),
FunctionParameterDecl(
name='child',
type=PointerType(
inner_type=ValueType(name='mjsBody', is_const=True),
),
),
FunctionParameterDecl(
name='prefix',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='suffix',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Attach child body to a parent site, return the attached body if success or NULL otherwise.', # pylint: disable=line-too-long
)),
('mjs_attachFrameToSite',
FunctionDecl(
name='mjs_attachFrameToSite',
return_type=PointerType(
inner_type=ValueType(name='mjsFrame'),
),
parameters=(
FunctionParameterDecl(
name='parent',
type=PointerType(
inner_type=ValueType(name='mjsSite'),
),
),
FunctionParameterDecl(
name='child',
type=PointerType(
inner_type=ValueType(name='mjsFrame', is_const=True),
),
),
FunctionParameterDecl(
name='prefix',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='suffix',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Attach child frame to a parent site, return the attached frame if success or NULL otherwise.', # pylint: disable=line-too-long
doc='Attach child to a parent, return the attached element if success or NULL otherwise.', # pylint: disable=line-too-long
)),
('mjs_detachBody',
FunctionDecl(
python/mujoco/specs.cc
+13 -11
View File
@@ -540,7 +540,7 @@ PYBIND11_MODULE(_specs, m) {
SetFrame(worldbody, mjOBJ_CAMERA, worldframe);
const char* p = prefix.has_value() ? prefix.value().c_str() : "";
const char* s = suffix.has_value() ? suffix.value().c_str() : "";
raw::MjsFrame* attached_frame = nullptr;
raw::MjsElement* attached_frame = nullptr;
if (frame.has_value()) {
raw::MjsFrame* frame_ptr = nullptr;
try {
@@ -560,11 +560,12 @@ PYBIND11_MODULE(_specs, m) {
if (!parent_body) {
throw pybind11::value_error("Frame does not have a parent body.");
}
attached_frame = mjs_attachFrame(parent_body, worldframe, p, s);
attached_frame =
mjs_attach(parent_body->element, worldframe->element, p, s);
if (!attached_frame) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
if (mjs_setFrame(attached_frame->element, frame_ptr) != 0) {
if (mjs_setFrame(attached_frame, frame_ptr) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
}
@@ -583,7 +584,8 @@ PYBIND11_MODULE(_specs, m) {
throw pybind11::value_error(
"Site spec does not match parent spec.");
}
attached_frame = mjs_attachFrameToSite(site_ptr, worldframe, p, s);
attached_frame =
mjs_attach(site_ptr->element, worldframe->element, p, s);
if (!attached_frame) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
@@ -597,7 +599,7 @@ PYBIND11_MODULE(_specs, m) {
self.assets[asset.first] = asset.second;
}
child.parent = &self;
return attached_frame;
return mjs_asFrame(attached_frame);
},
py::arg("child"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(), py::arg("site") = py::none(),
@@ -829,11 +831,11 @@ PYBIND11_MODULE(_specs, m) {
std::optional<std::string>& suffix) -> raw::MjsFrame* {
const char* p = prefix.has_value() ? prefix.value().c_str() : "";
const char* s = suffix.has_value() ? suffix.value().c_str() : "";
auto new_frame = mjs_attachFrame(&self, &frame, p, s);
auto new_frame = mjs_attach(self.element, frame.element, p, s);
if (!new_frame) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
return new_frame;
return mjs_asFrame(new_frame);
},
py::arg("frame"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),
@@ -870,12 +872,12 @@ PYBIND11_MODULE(_specs, m) {
std::optional<std::string>& suffix) -> raw::MjsBody* {
const char* p = prefix.has_value() ? prefix.value().c_str() : "";
const char* s = suffix.has_value() ? suffix.value().c_str() : "";
auto new_body = mjs_attachBody(&self, &body, p, s);
auto new_body = mjs_attach(self.element, body.element, p, s);
if (!new_body) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
return new_body;
return mjs_asBody(new_body);
},
py::arg("body"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),
@@ -953,12 +955,12 @@ PYBIND11_MODULE(_specs, m) {
std::optional<std::string>& suffix) -> raw::MjsBody* {
const char* p = prefix.has_value() ? prefix.value().c_str() : "";
const char* s = suffix.has_value() ? suffix.value().c_str() : "";
auto new_body = mjs_attachToSite(&self, &body, p, s);
auto new_body = mjs_attach(self.element, body.element, p, s);
if (!new_body) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
return new_body;
return mjs_asBody(new_body);
},
py::arg("body"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),