Merge pull request #2291 from AaronYoung5:main

PiperOrigin-RevId: 725933976 Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
2025-02-12 00:16:10 -08:00
parent ef1ef8ef6a 3ef5ebcf01
commit d830691f53
3 changed files with 42 additions and 3 deletions
@@ -272,6 +272,8 @@ 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");
@@ -1100,6 +1102,13 @@ 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