Issues accessing MjSpec.visual.headlight

[AaronYoung5]

Intro

Hi!

I'm trying to update my codebase to use MjSpec and am running into issues when trying to dynamically set the headlight to inactive. I get the same error for visual.rgba.

$ python -c 'import mujoco; print(mujoco.MjSpec().visual.headlight)'

TypeError: Unregistered type : mjVisual_::{unnamed type#3}

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "<string>", line 1, in <module>
TypeError: Unable to convert function return value to a Python type! The signature was
        (arg0: mujoco._specs.MjVisual) -> mjVisual_::{unnamed type#3}

Additionally, it seems like MjSpec.visual.global wasn't renamed in the python bindings like for MjModel.global_.

$ python -c 'import mujoco; print(mujoco.MjSpec().visual.global)'
  File "<string>", line 1
    import mujoco; print(mujoco.MjSpec().visual.global)
                                                ^^^^^^
SyntaxError: invalid syntax

# Workaround
$ python -c 'import mujoco; print(getattr(mujoco.MjSpec().visual, "global"))'
...

My setup

I've tested with mujoco==3.2.6, as well as building from source. I'm using Python 3.11.9.

My question

Am I doing something wrong in either case? It doesn't look like the spec_tests for either case. I can file a bug report, if necessary. Also happy to help if someone can point me in the right direction.

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

@quagla can you take a look?

[AaronYoung5]

Ended up trying myself this morning, I can make a PR if this is the right way to go about it. Works as expected for me now.

AaronYoung5@ba25a69

[yuvaltassa]

This looks good. A PR would be appreciated, thanks.

[AaronYoung5]

#2291