Fixed MjSpec introspection with visual.rgba and visual.headlight. Added access to MjSpec.visual.global_.

2024-12-14 07:47:24 -05:00
parent 644dfc7fb5
commit 0cf5500b6a
3 changed files with 24 additions and 1 deletions
@@ -236,6 +236,8 @@ PYBIND11_MODULE(_specs, m) {
  py::class_<raw::MjOption> mjOption(m, "MjOption");
  py::class_<raw::MjStatistic> mjStatistic(m, "MjStatistic");
  py::class_<raw::MjVisual> mjVisual(m, "MjVisual");
+  py::class_<raw::MjVisualHeadlight> mjVisualHeadlight(m, "MjVisualHeadlight");
+  py::class_<raw::MjVisualRgba> mjVisualRgba(m, "MjVisualRgba");
  py::class_<raw::MjsCompiler> mjsCompiler(m, "MjsCompiler");
  DefineArray<char>(m, "MjCharVec");
  DefineArray<std::string>(m, "MjStringVec");
@@ -979,6 +981,13 @@ PYBIND11_MODULE(_specs, m) {
      });
  mjsPlugin.def("delete",
                [](raw::MjsPlugin& self) { mjs_delete(self.element); });
+  // ============================= MJVISUAL ====================================
+  mjVisual.def_property(
+      "global_", 
+      [](raw::MjVisual& self) -> raw::MjVisualGlobal& { return self.global; },
+      [](raw::MjVisual& self, raw::MjVisualGlobal& value) { 
+        self.global = value; 
+      });

 #include "specs.cc.inc"
 }  // PYBIND11_MODULE // NOLINT