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#mjx Always define prefix attribute in Bind* classes.

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PiperOrigin-RevId: 727885838
Change-Id: I3e7dd0541fecf1eb913bb98b30e3df146ea665b8
This commit is contained in:
Google DeepMind
2025-02-17 09:22:59 -08:00
committed by Copybara-Service
parent d5065f867b
commit fb84ee4e17
1 changed files with 2 additions and 1 deletions
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mjx/mujoco/mjx/_src/support.py
+2 -1
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@@ -291,6 +291,7 @@ class BindModel(object):
def __init__(self, model: Model, specs: Sequence[mujoco.MjStruct]): def __init__(self, model: Model, specs: Sequence[mujoco.MjStruct]):
self.model = model self.model = model
self.prefix = ''
try: try:
iter(specs) iter(specs)
except TypeError: except TypeError:
@@ -386,6 +387,7 @@ class BindData(object):
): ):
self.data = data self.data = data
self.model = model self.model = model
self.prefix = ''
try: try:
iter(specs) iter(specs)
except TypeError: except TypeError:
@@ -393,7 +395,6 @@ class BindData(object):
ids = [] ids = []
for spec in specs: for spec in specs:
if isinstance(spec, mujoco.MjsBody): if isinstance(spec, mujoco.MjsBody):
self.prefix = ''
idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name) idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
elif isinstance(spec, mujoco.MjsJoint): elif isinstance(spec, mujoco.MjsJoint):
self.prefix = 'jnt_' self.prefix = 'jnt_'