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Refactor child frame addition to use append method; #64

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Refactor child frame addition to use append method; #64

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4 changes: 2 additions & 2 deletions src/pytorch_kinematics/mjcf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ def _build_chain_recurse(m, parent_frame, parent_body):
child_joint = frame.Joint(body.name + "_fixed_joint")
child_link = frame.Link(body.name, offset=tf.Transform3d(rot=body.quat, pos=body.pos))
child_frame = frame.Frame(name=body.name, link=child_link, joint=child_joint)
parent_frame.children = parent_frame.children + [child_frame, ]
parent_frame.children.append(child_frame)
_build_chain_recurse(m, child_frame, body)

# iterate through all sites that are children of parent_body
Expand All @@ -54,7 +54,7 @@ def _build_chain_recurse(m, parent_frame, parent_body):
if site.bodyid == parent_body.id:
site_link = frame.Link(site.name, offset=tf.Transform3d(rot=site.quat, pos=site.pos))
site_frame = frame.Frame(name=site.name, link=site_link)
parent_frame.children = parent_frame.children + [site_frame, ]
parent_frame.children.append(site_frame)


def build_chain_from_mjcf(data, body: Union[None, str, int] = None, assets:Optional[Dict[str,bytes]]=None):
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