Allow the viewer handle to return the mjModel/mjData objects from the simulation.

PiperOrigin-RevId: 643982026 Change-Id: Ida5ccb851c46f7352e724798738006be6badad0a
2024-06-17 06:11:17 -07:00
parent f15b6e5e21
commit c8cc2d51b0
2 changed files with 19 additions and 0 deletions
@@ -94,6 +94,20 @@ class Handle:
  def user_scn(self):
    return self._user_scn

+  @property
+  def m(self):
+    sim = self._sim()
+    if sim is not None:
+      return sim.m
+    return None
+
+  @property
+  def d(self):
+    sim = self._sim()
+    if sim is not None:
+      return sim.d
+    return None
+
  def close(self):
    sim = self._sim()
    if sim is not None: