Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
PiperOrigin-RevId: 773783069 Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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7dc7a349c5
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14dc7c2a60
@@ -418,7 +418,7 @@ and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h =
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.. mujoco-include:: mj_name2id
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Get id of object with the specified mjtObj type and name, returns -1 if id not found.
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Get id of object with the specified :ref:`mjtObj` type and name, returns -1 if id not found.
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.. _mj_id2name:
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@@ -427,7 +427,7 @@ Get id of object with the specified mjtObj type and name, returns -1 if id not f
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.. mujoco-include:: mj_id2name
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Get name of object with the specified mjtObj type and id, returns NULL if name not found.
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Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`` if name not found.
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.. _mj_fullM:
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@@ -231,6 +231,14 @@ generalized velocities to subtree angular momentum. More precisely if :math:`h`
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body index ``body`` in ``mjData.subtree_angmom`` (reported by the :ref:`subtreeangmom<sensor-subtreeangmom>` sensor)
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and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h = H \dot q`.
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.. _mj_name2id:
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Get id of object with the specified :ref:`mjtObj` type and name, returns -1 if id not found.
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.. _mj_id2name:
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Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`` if name not found.
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.. _mj_geomDistance:
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Returns the smallest signed distance between two geoms and optionally the segment from ``geom1`` to ``geom2``.
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@@ -7534,6 +7534,12 @@ coordinated visual settings corresponding to a "theme", and then include this fi
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While all settings in mjVisual are global, the settings here could not be fit into any of the other subsections. So this
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is effectively a miscellaneous subsection.
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.. _visual-global-cameraid:
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:at:`cameraid`: :at-val:`int, "-1"`
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The id of the camera used when initially loading the model in the visualizer. The default value of -1 means the free
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camera. In order to specify a :ref:`modeled camera<body-camera>`, use the camera's id as given by :ref:`mj_name2id`.
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.. _visual-global-orthographic:
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:at:`orthographic`: :at-val:`[false, true], "false"`
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+5
-3
@@ -1298,11 +1298,13 @@
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| :ref:`global | ? | :class: mjcf-attributes |
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| <visual-global>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`orthographic<visual-global-orthographic>` | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | |
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| | | | :ref:`cameraid<visual-global-cameraid>` | :ref:`orthographic<visual-global-orthographic>` | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`elevation<visual-global-elevation>` | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | |
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| | | | :ref:`azimuth<visual-global-azimuth>` | :ref:`elevation<visual-global-elevation>` | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`offheight<visual-global-offheight>` | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | |
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| | | | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`bvactive<visual-global-bvactive>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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@@ -12,6 +12,11 @@ Upcoming version (not yet released)
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`:ref:mjs_detach` was added in order to remove an element from the spec without deleting it.
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- The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``.
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General
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^^^^^^^
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- Added support for setting the initial camera in the viewer using
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:ref:`visual/global/cameraid<visual-global-cameraid>`.
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Bug fixes
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^^^^^^^^^
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- Inverse dynamics were not being computed correctly when :ref:`tendon armature<tendon-spatial-armature>` was present,
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@@ -795,8 +795,8 @@ struct mjLROpt_ { // options for mj_setLengthRange()
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mjtNum tolrange; // convergence tolerance (relative to range)
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};
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typedef struct mjLROpt_ mjLROpt;
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struct mjVFS_ { // virtual file system for loading from memory
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void* impl_; // internal pointer to VFS memory
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struct mjVFS_ { // virtual file system for loading from memory
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void* impl_; // internal pointer to VFS memory
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};
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typedef struct mjVFS_ mjVFS;
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struct mjOption_ { // physics options
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@@ -844,7 +844,8 @@ struct mjOption_ { // physics options
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typedef struct mjOption_ mjOption;
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struct mjVisual_ { // visualization options
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struct { // global parameters
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int orthographic; // is the free camera orthographic (0: no, 1: yes)
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int cameraid; // initial camera id (-1: free)
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int orthographic; // is the free camera orthographic (0: no, 1: yes)
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float fovy; // y field-of-view of free camera (orthographic ? length : degree)
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float ipd; // inter-pupilary distance for free camera
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float azimuth; // initial azimuth of free camera (degrees)
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