chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Support body.find_all("joint") in bindings.

Browse Source 
PiperOrigin-RevId: 703071822
Change-Id: I6457ca0561c794447cc06aab29dcd0aac82c49a0
This commit is contained in:
Alessio Quaglino
2024-12-05 04:53:46 -08:00
committed by Copybara-Service
parent a729acb4fa
commit 41968f1527
2 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/specs.cc
+3 -1
View File
@@ -493,6 +493,8 @@ PYBIND11_MODULE(_specs, m) {
objtype = mjOBJ_GEOM; objtype = mjOBJ_GEOM;
} else if (name == "site") { } else if (name == "site") {
objtype = mjOBJ_SITE; objtype = mjOBJ_SITE;
} else if (name == "joint") {
objtype = mjOBJ_JOINT;
} else if (name == "light") { } else if (name == "light") {
objtype = mjOBJ_LIGHT; objtype = mjOBJ_LIGHT;
} else if (name == "camera") { } else if (name == "camera") {
@@ -500,7 +502,7 @@ PYBIND11_MODULE(_specs, m) {
} else { } else {
throw pybind11::value_error( throw pybind11::value_error(
"body.find_all supports the types: body, frame, geom, site, " "body.find_all supports the types: body, frame, geom, site, "
"light, camera."); "joint, light, camera.");
} }
return FindAllImpl(self, objtype, true); return FindAllImpl(self, objtype, true);
}, },
python/mujoco/specs_test.py
+1 -1
View File
@@ -667,7 +667,7 @@ class SpecsTest(absltest.TestCase):
self.assertEqual( self.assertEqual(
str(cm.exception), str(cm.exception),
'body.find_all supports the types: body, frame, geom, site,' 'body.find_all supports the types: body, frame, geom, site,'
' light, camera.', ' joint, light, camera.',
) )
body4 = spec.worldbody.find_all('body')[3] body4 = spec.worldbody.find_all('body')[3]
body4.name = 'body4_new' body4.name = 'body4_new'