Skip to content

[LLMTM] Update MultiSim to work with Sage10K#262

Open
HoangGiang93 wants to merge 24 commits intocram2:mainfrom
HoangGiang93:MergeWithTom
Open

[LLMTM] Update MultiSim to work with Sage10K#262
HoangGiang93 wants to merge 24 commits intocram2:mainfrom
HoangGiang93:MergeWithTom

Conversation

@HoangGiang93
Copy link
Copy Markdown
Contributor

This should be merged after #260 and #197

# Conflicts:
#	test/semantic_digital_twin_test/test_sage_10k/test_loader.py
@HoangGiang93
Copy link
Copy Markdown
Contributor Author

HoangGiang93 commented Apr 10, 2026

Code failed because of these lines:

            # attach free joint bodies to the new top level body in mujoco
            with world.modify_world():
                for free_joint_body in free_joint_bodies:
                    self.world.move_branch(free_joint_body, root)

@ichumuh please help :D

ichumuh and others added 3 commits April 10, 2026 17:07
@@ -428,20 +428,27 @@ def create_in_world(
body.collision = collision

if self.place_id in ["floor", "wall"]:
Copy link
Copy Markdown
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

only do the minimal amount on code in the if block. so 1x with world.modify_world(), then the if statement for the connection, and then add_body and add_connection once again

Copy link
Copy Markdown
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

abbreviations everywhere

Updated docstring for move_branch method to clarify functionality and warning.
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Labels

None yet

Projects

None yet

Development

Successfully merging this pull request may close these issues.

3 participants