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refactor(core): mjb in scene dict optional #265

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Merged
juelg merged 1 commit into from
Mar 17, 2026
Merged

refactor(core): mjb in scene dict optional #265

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8 changes: 5 additions & 3 deletions python/rcs/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

import os
import site
from dataclasses import dataclass
from dataclasses import dataclass, field

from gymnasium import register
from rcs._core import __version__, common
Expand All @@ -18,8 +18,6 @@
class Scene:
"""Scene configuration."""

mjb: str
"""Path to the Mujoco binary scene file."""
mjcf_scene: str
"""Path to the Mujoco scene XML file."""
mjcf_robot: str
Expand All @@ -28,6 +26,10 @@ class Scene:
"""Path to the URDF robot file for IK, if available."""
robot_type: common.RobotType
"""Type of the robot in the scene."""
mjb: str | None = None
"""Path to the Mujoco binary scene file."""
# TODO: add possibility to add robot config to the scene config (the field below is currently unused)
robot_config: dict[str, common.RobotConfig] = field(default_factory=dict)


def get_scene_urdf(scene_name: str) -> str | None:
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