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[fix] fix equality removal with actuator removal #594

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merged 1 commit into from
Dec 18, 2024
Merged

[fix] fix equality removal with actuator removal #594

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6 changes: 6 additions & 0 deletions robosuite/models/robots/manipulators/legged_manipulator_model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,12 @@ def _remove_joint_actuation(self, part_name):
parent_body = find_parent(self.tendon, fixed)
parent_body.remove(fixed)
break
# remove joint in equality
for equality in self.equality.findall(".//joint"):
# If either joint1 or joint2 is the joint we want to remove
if part_name in equality.get("joint1") or part_name in equality.get("joint2"):
parent_body = find_parent(self.equality, equality)
parent_body.remove(equality)

def _remove_free_joint(self):
# remove freejoint
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