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Allow keyword arguments in attach.

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PiperOrigin-RevId: 702718597
Change-Id: I1f1a5e9c88c8e102d5cbe5984511e7923ec7be3e
This commit is contained in:
Alessio Quaglino
2024-12-04 07:30:33 -08:00
committed by Copybara-Service
parent afc86ac1b3
commit d1b02556ef
2 changed files with 34 additions and 19 deletions
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python/mujoco/specs.cc
+31 -16
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@@ -625,15 +625,19 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
mjsBody.def(
"attach_frame",
[](raw::MjsBody& self, raw::MjsFrame& frame, std::string& prefix,
std::string& suffix) -> raw::MjsFrame* {
auto new_frame =
mjs_attachFrame(&self, &frame, prefix.c_str(), suffix.c_str());
[](raw::MjsBody& self, raw::MjsFrame& frame,
std::optional<std::string>& prefix,
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);
if (!new_frame) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
return new_frame;
},
py::arg("frame"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),
py::return_value_policy::reference_internal);
mjsBody.def(
"to_frame",
@@ -654,34 +658,41 @@ PYBIND11_MODULE(_specs, m) {
});
mjsFrame.def(
"attach_body",
[](raw::MjsFrame& self, raw::MjsBody& body, std::string& prefix,
std::string& suffix) -> raw::MjsBody* {
auto new_body =
mjs_attachBody(&self, &body, prefix.c_str(), suffix.c_str());
[](raw::MjsFrame& self, raw::MjsBody& body,
std::optional<std::string>& prefix,
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);
if (!new_body) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
return new_body;
},
py::arg("body"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),
py::return_value_policy::reference_internal);
mjsFrame.def(
"attach",
[](raw::MjsFrame& self, MjSpec& spec, std::string& prefix,
std::string& suffix) -> raw::MjsFrame* {
[](raw::MjsFrame& self, MjSpec& spec, std::optional<std::string>& prefix,
std::optional<std::string>& suffix) -> raw::MjsFrame* {
auto world = mjs_findBody(spec.ptr, "world");
if (!world) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
auto attached_world =
mjs_attachBody(&self, world, prefix.c_str(), suffix.c_str());
const char* p = prefix.has_value() ? prefix.value().c_str() : "";
const char* s = suffix.has_value() ? suffix.value().c_str() : "";
auto attached_world = mjs_attachBody(&self, world, p, s);
if (!attached_world) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
return mjs_bodyToFrame(&attached_world);
},
py::arg("spec"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),
py::return_value_policy::reference_internal);
// ============================= MJSGEOM =====================================
@@ -730,16 +741,20 @@ PYBIND11_MODULE(_specs, m) {
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());
[](raw::MjsSite& self, raw::MjsBody& body,
std::optional<std::string>& prefix,
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);
if (!new_body) {
throw pybind11::value_error(
mjs_getError(mjs_getSpec(self.element)));
}
return new_body;
},
py::arg("body"), py::arg("prefix") = py::none(),
py::arg("suffix") = py::none(),
py::return_value_policy::reference_internal);
// ============================= MJSCAMERA ===================================