Enable to attach a spec to a frame.

PiperOrigin-RevId: 699703988 Change-Id: Idbddcbce1e68286248458eb0bd24d5080451a58a
2024-11-24 07:34:16 -08:00
parent 3a12db9ad2
commit f909d63cdf
4 changed files with 68 additions and 1 deletions
@@ -665,6 +665,24 @@ PYBIND11_MODULE(_specs, m) {
        return new_body;
      },
      py::return_value_policy::reference_internal);
+  mjsFrame.def(
+      "attach",
+      [](raw::MjsFrame& self, MjSpec& spec, std::string& prefix,
+         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());
+        if (!attached_world) {
+          throw pybind11::value_error(
+              mjs_getError(mjs_getSpec(self.element)));
+        }
+        return mjs_bodyToFrame(&attached_world);
+      },
+      py::return_value_policy::reference_internal);

  // ============================= MJSGEOM =====================================
  mjsGeom.def("delete", [](raw::MjsGeom& self) { mjs_delete(self.element); });