Allow user-defined visualization geoms to be added to the passive viewer.

Fixes #1023, #1082 PiperOrigin-RevId: 572303635 Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
2023-10-10 10:51:29 -07:00
parent 1bd6c94e6d
commit 2e15574b58
13 changed files with 112 additions and 56 deletions
@@ -1050,7 +1050,9 @@ MjvGeomWrapper::MjWrapper()
        static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0])*9);
        return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
      }()),
-      X(rgba) {}
+      X(rgba) {
+  mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
+}

 MjvGeomWrapper::MjWrapper(raw::MjvGeom* ptr, py::handle owner)
    : WrapperBase(ptr, owner),