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Remove all visual-only assets if discardvisual is selected, not only the geoms.

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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
This commit is contained in:
Alessio Quaglino
2024-01-15 06:38:11 -08:00
committed by Copybara-Service
parent acf698e2df
commit 1e2e0b3053
11 changed files with 557 additions and 65 deletions
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test/user/testdata/discardvisual_false.xml
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+73
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<mujoco>
<compiler discardvisual="false"/>
<asset>
<texture name="discarded_skybox" type="skybox" builtin="gradient"
rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<mesh name="kept" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="discarded0" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="discarded1" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
<body pos="0 0 -.5">
<freejoint/>
<geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
</body>
<site name="tendon0" pos=".1 0 1.5"/>
<geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
<body pos=".1 0 -.5">
<site name="tendon1" pos="0 0 1"/>
<freejoint/>
<geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
</body>
<body pos=".2 0 -.5">
<geom name="kept0" type="mesh" mesh="kept"/>
</body>
<body pos=".3 0 -.5">
<freejoint/>
<geom name="kept1" type="mesh" mesh="kept"/>
</body>
<body pos=".4 0 -.5">
<geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
</body>
<geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
<geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
<geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
</worldbody>
<contact>
<pair geom1="kept1" geom2="kept_pair"/>
</contact>
<tendon>
<spatial range="0 1">
<site site="tendon0"/>
<geom geom="kept_tendon"/>
<site site="tendon1"/>
</spatial>
</tendon>
<sensor>
<framepos objtype="geom" objname="kept_sensor"/>
</sensor>
<custom>
<tuple name="tuple">
<element objtype="geom" objname="kept_tuple"/>
</tuple>
</custom>
</mujoco>