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Add mjs_attachToSite for attaching a body to a site.

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PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
This commit is contained in:
Alessio Quaglino
2024-10-10 07:11:16 -07:00
committed by Copybara-Service
parent 694bdebc19
commit cdb167f275
10 changed files with 180 additions and 52 deletions
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python/mujoco/specs.cc
+19 -4
View File
@@ -426,7 +426,7 @@ PYBIND11_MODULE(_specs, m) {
[](raw::MjsBody& self, mjtObj objtype) -> py::list {
py::list list;
raw::MjsElement* el = mjs_firstChild(&self, objtype, true);
std::string error = mjs_getError(mjs_getSpec(&self));
std::string error = mjs_getError(mjs_getSpec(self.element));
if (!el && !error.empty()) {
throw pybind11::value_error(error);
}
@@ -557,7 +557,9 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
mjsBody.def(
"spec",
[](raw::MjsBody& self) -> raw::MjSpec* { return mjs_getSpec(&self); },
[](raw::MjsBody& self) -> raw::MjSpec* {
return mjs_getSpec(self.element);
},
py::return_value_policy::reference_internal);
mjsBody.def(
"attach_frame",
@@ -566,7 +568,7 @@ PYBIND11_MODULE(_specs, m) {
auto new_frame =
mjs_attachFrame(&self, &frame, prefix.c_str(), suffix.c_str());
if (!new_frame) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(&self)));
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
return new_frame;
},
@@ -587,7 +589,7 @@ PYBIND11_MODULE(_specs, m) {
mjs_attachBody(&self, &body, prefix.c_str(), suffix.c_str());
if (!new_body) {
throw pybind11::value_error(
mjs_getError(mjs_getSpecFromFrame(&self)));
mjs_getError(mjs_getSpec(self.element)));
}
return new_body;
},
@@ -643,6 +645,19 @@ PYBIND11_MODULE(_specs, m) {
return mjs_getDefault(self.element);
},
py::return_value_policy::reference_internal);
mjsSite.def(
"attach",
[](raw::MjsSite& self, raw::MjsBody& body, std::string& prefix,
std::string& suffix) -> raw::MjsBody* {
auto new_body =
mjs_attachToSite(&self, &body, prefix.c_str(), suffix.c_str());
if (!new_body) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
return new_body;
},
py::return_value_policy::reference_internal);
// ============================= MJSCAMERA ===================================
mjsCamera.def_property_readonly("id", [](raw::MjsCamera& self) -> int {
python/mujoco/specs_test.py
+9
View File
@@ -857,6 +857,15 @@ class SpecsTest(absltest.TestCase):
' attribute',
)
def test_attach_body_to_site(self):
child = mujoco.MjSpec()
parent = mujoco.MjSpec()
site = parent.worldbody.add_site(pos=[1, 2, 3])
body = child.worldbody.add_body()
self.assertIsNotNone(site.attach(body, '', ''))
model = parent.compile()
np.testing.assert_array_equal(model.body_pos[1], [1, 2, 3])
if __name__ == '__main__':
absltest.main()