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Allow to attach an entire mjSpec in mjs_attach.

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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
This commit is contained in:
Alessio Quaglino
2025-04-01 09:50:42 -07:00
committed by Copybara-Service
parent e5912c3ce4
commit b839fe79e1
4 changed files with 63 additions and 42 deletions
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python/mujoco/specs.cc
+2 -31
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@@ -269,16 +269,6 @@ py::list FindAllImpl(raw::MjsBody& body, mjtObj objtype, bool recursive) {
return list; // list of pointers, so they can be copied
}
void SetFrame(raw::MjsBody* body, mjtObj objtype, raw::MjsFrame* frame) {
mjsElement* el = mjs_firstChild(body, objtype, 0);
while (el) {
if (frame->element != el && mjs_getFrame(el) == nullptr) {
mjs_setFrame(el, frame);
}
el = mjs_nextChild(body, el, 0);
}
}
PYBIND11_MODULE(_specs, m) {
auto structs_m = py::module::import("mujoco._structs");
py::function mjmodel_from_raw_ptr =
@@ -526,18 +516,6 @@ PYBIND11_MODULE(_specs, m) {
throw pybind11::value_error(
"Only one of frame or site can be specified.");
}
auto worldbody = mjs_findBody(child.ptr, "world");
if (!worldbody) {
throw pybind11::value_error("Child does not have a world body.");
}
auto worldframe = mjs_addFrame(worldbody, nullptr);
SetFrame(worldbody, mjOBJ_BODY, worldframe);
SetFrame(worldbody, mjOBJ_SITE, worldframe);
SetFrame(worldbody, mjOBJ_FRAME, worldframe);
SetFrame(worldbody, mjOBJ_JOINT, worldframe);
SetFrame(worldbody, mjOBJ_GEOM, worldframe);
SetFrame(worldbody, mjOBJ_LIGHT, worldframe);
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::MjsElement* attached_frame = nullptr;
@@ -556,18 +534,11 @@ PYBIND11_MODULE(_specs, m) {
throw pybind11::value_error(
"Frame spec does not match parent spec.");
}
raw::MjsBody* parent_body = mjs_getParent(frame_ptr->element);
if (!parent_body) {
throw pybind11::value_error("Frame does not have a parent body.");
}
attached_frame =
mjs_attach(parent_body->element, worldframe->element, p, s);
mjs_attach(frame_ptr->element, child.ptr->element, p, s);
if (!attached_frame) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
if (mjs_setFrame(attached_frame, frame_ptr) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
}
if (site.has_value()) {
raw::MjsSite* site_ptr = nullptr;
@@ -585,7 +556,7 @@ PYBIND11_MODULE(_specs, m) {
"Site spec does not match parent spec.");
}
attached_frame =
mjs_attach(site_ptr->element, worldframe->element, p, s);
mjs_attach(site_ptr->element, child.ptr->element, p, s);
if (!attached_frame) {
throw pybind11::value_error(mjs_getError(self.ptr));
}