Merge pull request #2 from damianliumin/main

add python binding for getDependentGenCoordIndices (necessary for SoftMAC)
NUS-LinS-Lab · Nov 23, 2023 · 89c83cd · 89c83cd
2 parents c16b7d3 + e37ead6
commit 89c83cd
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/python/_nimblephysics/dynamics/BodyNode.cpp b/python/_nimblephysics/dynamics/BodyNode.cpp
@@ -1037,6 +1037,11 @@ void BodyNode(py::module& m)
             return self->getDependentGenCoordIndex(_arrayIndex);
           },
           ::py::arg("arrayIndex"))
+      .def(
+          "getDependentGenCoordIndices",
+          +[](const dart::dynamics::BodyNode* self) -> const std::vector<std::size_t>& {
+            return self->getDependentGenCoordIndices();
+          })
       .def(
           "getNumDependentDofs",
           +[](const dart::dynamics::BodyNode* self) -> std::size_t {