Skip to content

Fix --override Flag Scope in testspeed and viewer #878

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Aaryan-549 wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Fix --override Flag Scope in testspeed and viewer #878

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions mujoco_warp/_src/io.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1306,6 +1306,7 @@ def override_model(model: Union[types.Model, mujoco.MjModel], overrides: Union[d
}
mjw_only_fields = {"opt.broadphase", "opt.broadphase_filter", "opt.ls_parallel", "opt.graph_conditional"}
mj_only_fields = {"opt.jacobian"}
readonly_fields = {"opt.is_sparse"}

if not isinstance(overrides, dict):
overrides_dict = {}
Expand All @@ -1323,6 +1324,9 @@ def override_model(model: Union[types.Model, mujoco.MjModel], overrides: Union[d
if key in mj_only_fields and isinstance(model, types.Model):
continue

if key in readonly_fields and isinstance(model, types.Model):
raise ValueError(f"Cannot override {key} on mjw.Model: field affects model initialization and has side effects")

obj, attrs = model, key.split(".")
for i, attr in enumerate(attrs):
if not hasattr(obj, attr):
Expand Down