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

Rename detach_default and detach_body to delete in the mjSpec bindings.

Browse Source 
PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
This commit is contained in:
Alessio Quaglino
2025-06-20 06:22:15 -07:00
committed by Copybara-Service
parent e23b39fbfa
commit a2acd2d4ed
4 changed files with 11 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mjspec.ipynb
+4 -4
View File
@@ -1827,7 +1827,7 @@
"\n",
"# Remove all bodies in the list from the spec\n",
"for body in delete_list:\n",
" spec.detach_body(body)\n",
" spec.delete(body)\n",
"\n",
"# # Add another humanoid\n",
"spec_humanoid = mj.MjSpec.from_file(humanoid_file)\n",
@@ -1900,8 +1900,8 @@
"shoulder_right = torso.add_frame(pos=arm_right.pos)\n",
"\n",
"# Remove the arms\n",
"spec.detach_body(arm_left)\n",
"spec.detach_body(arm_right)\n",
"spec.delete(arm_left)\n",
"spec.delete(arm_right)\n",
"\n",
"# Add new legs\n",
"shoulder_left.attach_body(leg_left, 'shoulder', 'left')\n",
@@ -1942,7 +1942,7 @@
"arm_right = spec.body('upper_arm_right')\n",
"torso = spec.body('torso')\n",
"shoulder_right = torso.add_frame(pos=arm_right.pos, quat=[0, 0.8509035, 0, 0.525322])\n",
"spec.detach_body(arm_right)\n",
"spec.delete(arm_right)\n",
"\n",
"# Attach Franka arm to humanoid\n",
"franka_arm = franka.body('fr3_link2')\n",