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Add python binding for no gravity link #1419

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merged 2 commits into from
May 30, 2024
Merged

Add python binding for no gravity link #1419

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58804fc
add python binding for link gravity
AzulRadio May 16, 2024
d80ab87
Merge branch 'sdf13' into azulradio/pythonbind
iche033 May 30, 2024
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7 changes: 7 additions & 0 deletions python/src/sdf/pyLink.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,13 @@ void defineLink(pybind11::object module)
.def("set_enable_wind",
&sdf::Link::SetEnableWind,
"Set whether this link should be subject to wind.")
.def("enable_gravity",
&sdf::Link::EnableGravity,
"Check if this link should be subject to gravity. "
"If true, this link should be affected by gravity.")
.def("set_enable_gravity",
&sdf::Link::SetEnableGravity,
"Set whether this link should be subject to gravity.")
.def("add_collision",
&sdf::Link::AddCollision,
"Add a collision to the link.")
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4 changes: 4 additions & 0 deletions python/test/pyLink_TEST.py
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Expand Up @@ -61,6 +61,10 @@ def test_default_construction(self):
link.set_enable_wind(True)
self.assertTrue(link.enable_wind())

self.assertTrue(link.enable_gravity())
link.set_enable_gravity(False)
self.assertFalse(link.enable_gravity())

self.assertEqual(0, link.sensor_count())
self.assertEqual(None, link.sensor_by_index(0))
self.assertEqual(None, link.sensor_by_index(1))
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