From f7cc1c2e5bbb802aab133724e9214feaaea6bbf2 Mon Sep 17 00:00:00 2001 From: Alessio Quaglino Date: Mon, 11 Nov 2024 11:14:11 -0800 Subject: [PATCH] Read solref from jnt_solref when the user calls model.joint.solref. Same for solimp. Fixes #2221. PiperOrigin-RevId: 695416121 Change-Id: I962dc12b13fa4d02dc349ecad1a1ddc7085565db --- python/mujoco/indexer_xmacro.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/python/mujoco/indexer_xmacro.h b/python/mujoco/indexer_xmacro.h index 199c46c7..6f9d2f9d 100644 --- a/python/mujoco/indexer_xmacro.h +++ b/python/mujoco/indexer_xmacro.h @@ -140,8 +140,8 @@ X( int, dof_, parentid, nv, 1 ) \ X( int, dof_, Madr, nv, 1 ) \ X( int, dof_, simplenum, nv, 1 ) \ - X( mjtNum, dof_, solref, nv, mjNREF ) \ - X( mjtNum, dof_, solimp, nv, mjNIMP ) \ + X( mjtNum, jnt_, solref, njnt, mjNREF ) \ + X( mjtNum, jnt_, solimp, njnt, mjNIMP ) \ X( mjtNum, dof_, frictionloss, nv, 1 ) \ X( mjtNum, dof_, armature, nv, 1 ) \ X( mjtNum, dof_, damping, nv, 1 ) \