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Add updateScene callback for plugins.

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PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
This commit is contained in:
Alessio Quaglino
2022-12-02 10:10:57 -08:00
committed by Copybara-Service
parent 9fcf3b0c2e
commit 0d52feaa94
9 changed files with 214 additions and 126 deletions
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doc/changelog.rst
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@@ -67,6 +67,8 @@ General
``dlopen`` on a POSIX system, and to ``LoadLibraryA`` on Windows. The second function scans a specified directory for
all dynamic libraries file and loads each library found. Dynamic libraries opened by these functions are assumed to
register one or more MuJoCo plugins on load.
- Add an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``. This callback allows
custom plugin visualizations. Enable stree visualization for the Cable plugin as an example.
- Sensors of type :ref:`user<sensor-user>` no longer require :at:`objtype` and :at:`objname`. If unspecified, the
objtype will be :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now :at-val:`"real"`.
- Add support for capsules in URDF import.