Remove "global" option from [compiler/coordinate](https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate) attribute.
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older. PiperOrigin-RevId: 521739137 Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
b327058641
commit
7cc42ecf2a
Vendored
+16
-17
@@ -1,6 +1,4 @@
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<mujoco model="example">
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<compiler coordinate="global"/>
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<default>
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<geom rgba=".8 .6 .4 1"/>
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</default>
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@@ -11,25 +9,26 @@
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<worldbody>
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<light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
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<body>
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<geom type="capsule" fromto="0 0 1 0 0 0.6" size="0.06"/>
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<joint type="ball" pos="0 0 1"/>
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<body>
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<geom type="capsule" fromto="0 0 0.6 0.3 0 0.6" size="0.04"/>
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<joint type="hinge" pos="0 0 0.6" axis="0 1 0"/>
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<joint type="hinge" pos="0 0 0.6" axis="1 0 0"/>
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<body>
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<geom type="ellipsoid" pos="0.4 0 0.6" size="0.1 0.08 0.02"/>
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<site name="end1" pos="0.5 0 0.6" type="sphere" size="0.01"/>
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<joint type="hinge" pos="0.3 0 0.6" axis="0 1 0"/>
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<joint type="hinge" pos="0.3 0 0.6" axis="0 0 1"/>
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<body pos="0 0 1">
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<joint type="ball"/>
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<geom type="capsule" size="0.06" fromto="0 0 0 0 0 -.4"/>
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<body pos="0 0 -0.4">
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<joint axis="0 1 0"/>
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<joint axis="1 0 0"/>
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<geom type="capsule" size="0.04" fromto="0 0 0 .3 0 0"/>
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<body pos=".3 0 0">
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<joint axis="0 1 0"/>
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<joint axis="0 0 1"/>
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<geom pos=".1 0 0" size="0.1 0.08 0.02" type="ellipsoid"/>
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<site name="end1" pos="0.2 0 0" size="0.01"/>
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</body>
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</body>
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</body>
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<body>
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<geom type="cylinder" fromto="0.5 0 0.2 0.5 0 0" size="0.07"/>
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<site name="end2" pos="0.5 0 0.2" type="sphere" size="0.01"/>
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<body pos="0.3 0 0.1">
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<joint type="free"/>
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<geom size="0.07 0.1" type="cylinder"/>
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<site name="end2" pos="0 0 0.1" size="0.01"/>
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</body>
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</worldbody>
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Vendored
+561
-577
File diff suppressed because it is too large
Load Diff
Vendored
+13
-13
@@ -8,22 +8,22 @@
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</asset>
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<worldbody>
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<light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1"/>
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<body pos="0 0 0.8" gravcomp="0">
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<joint pos="0 0 0.2" type="ball"/>
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<geom size="0.06 0.2" type="capsule"/>
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<body pos="0.15 0 -0.2" quat="0.707107 0 -0.707107 0" gravcomp="0">
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<joint pos="0 0 0.15" axis="0 1 0"/>
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<joint pos="0 0 0.15" axis="0 0 -1"/>
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<geom size="0.04 0.15" type="capsule"/>
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<body pos="0 0 -0.25" quat="0.707107 0 0.707107 0" gravcomp="0">
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<joint pos="-0.1 0 0" axis="0 1 0"/>
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<joint pos="-0.1 0 0" axis="0 0 1"/>
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<geom size="0.1 0.08 0.02" type="ellipsoid"/>
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<site name="end1" pos="0.1 0 0" size="0.01"/>
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<body pos="0 0 1">
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<joint pos="0 0 0" type="ball"/>
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<geom size="0.06 0.2" pos="0 0 -0.2" type="capsule"/>
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<body pos="0 0 -0.4">
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<joint pos="0 0 0" axis="0 1 0"/>
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<joint pos="0 0 0" axis="1 0 0"/>
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<geom size="0.04 0.15" pos="0.15 0 0" quat="0.707107 0 -0.707107 0" type="capsule"/>
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<body pos="0.3 0 0">
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<joint pos="0 0 0" axis="0 1 0"/>
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<joint pos="0 0 0" axis="0 0 1"/>
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<geom size="0.1 0.08 0.02" pos="0.1 0 0" type="ellipsoid"/>
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<site name="end1" pos="0.2 0 0" size="0.01"/>
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</body>
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</body>
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</body>
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<body pos="0.5 0 0.1" gravcomp="0">
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<body pos="0.3 0 0.1">
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<joint type="free"/>
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<geom size="0.07 0.1" type="cylinder"/>
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<site name="end2" pos="0 0 0.1" size="0.01"/>
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Vendored
+59
-63
@@ -1,72 +1,68 @@
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<mujoco model="test">
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<compiler coordinate="global"/>
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<mujoco model="tendon">
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<compiler autolimits="true"/>
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<default>
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<geom rgba=".9 .7 .1 1" size="0.01"/>
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<site type="sphere" rgba=".9 .9 .9 1" size="0.005"/>
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<joint type="hinge" axis="0 1 0" limited="true" range="0 60" solimplimit="0.95 0.95 0.1"/>
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</default>
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<visual>
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<headlight diffuse="0.7 0.7 0.7"/>
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</visual>
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<visual>
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<headlight diffuse=".7 .7 .7"/>
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</visual>
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<default class="main">
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<joint axis="0 0 1" solimplimit="0.95 0.95 0.1 0.5 2" range="0 60"/>
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<geom size="0.01 0 0" rgba="0.9 0.7 0.1 1"/>
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<site rgba="0.9 0.9 0.9 1"/>
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</default>
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<worldbody>
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<body>
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<geom type="cylinder" fromto="-0.03 0 0.2 -0.03 0 0.15"
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size="0.03" rgba=".2 .2 .5 1" density="5000"/>
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<joint type="slide" pos="-0.03 0 0.2" axis="0 0 1" limited="false"/>
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<site name="s1" pos="-0.03 0 0.2"/>
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<worldbody>
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<body pos="-0.03 0 0.175">
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<joint pos="0 0 0.025" limited="false" type="slide"/>
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<geom size="0.03 0.025" type="cylinder" density="5000" rgba="0.2 0.2 0.5 1"/>
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<site name="s1" pos="0 0 0.025"/>
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</body>
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<site name="s2" pos="-0.03 0 0.32"/>
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<body pos="0.0242857 0 0.3" quat="1 1 1 1">
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<joint pos="0 0 -0.0242857"/>
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<geom size="0.01 0.05" pos="0 0 0.0257143" quat="0 -1 -1 0" type="capsule"/>
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<geom name="g1" size="0.02 0.015" pos="0 0 -0.0242857" quat="0 -1 0 -1" type="cylinder" rgba=".3 .9 .3 .4"/>
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<site name="s3" pos="0 0.02 -0.00428571" quat="0.5 -0.5 -0.5 -0.5"/>
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<body pos="0 0 0.1">
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<joint pos="0 0 -0.0242857"/>
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<geom size="0.01 0.05" pos="0 0 0.0257143" quat="0 -1 -1 0" type="capsule"/>
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<geom name="g2" size="0.02 0.015" pos="0 0 -0.0242857" quat="0 -1 0 -1" type="cylinder" rgba=".3 .9 .3 .4"/>
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<site name="s4" pos="0 0.01 0.00571429" quat="0.5 -0.5 -0.5 -0.5"/>
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<site name="s5" pos="0 0.02 0.0257143" quat="0.5 -0.5 -0.5 -0.5"/>
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<site name="side2" pos="0 0.03 -0.0242857" quat="0.5 -0.5 -0.5 -0.5"/>
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<body pos="0 0 0.09">
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<joint pos="0 0 -0.0143443"/>
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<geom size="0.01 0.035" pos="0 0 0.0206557" quat="0 1 1 0" type="capsule"/>
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<geom name="g3" size="0.02 0.015" pos="0 0 -0.0143443" quat="0 1 0 1" type="cylinder" rgba=".3 .9 .3 .4"/>
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<site name="s6" pos="0 0.01 0.0156557" quat="1 -1 -1 -1"/>
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<site name="side3" pos="0 0.03 -0.0143443" quat="1 -1 -1 -1"/>
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</body>
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<site name="s2" pos="-0.03 0 0.32"/>
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<body>
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<geom type="capsule" fromto="0 0 0.3 0.1 0 0.3"/>
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<geom name="g1" type="cylinder" fromto="0.0 0.015 0.3 0.0 -0.015 0.3"
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size="0.02" rgba=".3 .9 .3 .4"/>
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<joint pos="0 0 0.3"/>
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<site name="s3" pos="0.02 0 0.32"/>
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<body>
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<geom type="capsule" fromto="0.1 0 0.3 0.2 0 0.3"/>
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<geom name="g2" type="cylinder" fromto="0.1 0.015 0.3 0.1 -0.015 0.3"
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size="0.02" rgba=".3 .9 .3 .4"/>
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<joint pos="0.1 0 0.3"/>
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<site name="s4" pos="0.13 0 0.31"/>
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<site name="s5" pos="0.15 0 0.32"/>
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<site name="side2" pos="0.1 0 0.33"/>
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<body>
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<geom type="capsule" fromto="0.2 0 0.3 0.27 0 0.3"/>
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<geom name="g3" type="cylinder" fromto="0.2 0.015 0.3 0.2 -0.015 0.3"
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size="0.02" rgba=".3 .9 .3 .4"/>
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<joint pos="0.2 0 0.3"/>
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<site name="s6" pos="0.23 0 0.31"/>
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<site name="side3" pos="0.2 0 0.33"/>
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</body>
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</body>
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</body>
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</worldbody>
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</body>
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</worldbody>
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<tendon>
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<spatial width="0.002" rgba=".95 .3 .3 1" limited="true" range="0 0.33">
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<site site="s1"/>
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<site site="s2"/>
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<geom geom="g1"/>
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<site site="s3"/>
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<tendon>
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<spatial range="0 0.33" width="0.002" rgba=".95 .3 .3 1">
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<site site="s1"/>
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<site site="s2"/>
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<geom geom="g1"/>
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<site site="s3"/>
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<pulley divisor="2"/>
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<site site="s3"/>
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<geom geom="g2" sidesite="side2"/>
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<site site="s4"/>
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<pulley divisor="2"/>
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<site site="s3"/>
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<geom geom="g2" sidesite="side2"/>
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<site site="s4"/>
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<pulley divisor="2"/>
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<site site="s3"/>
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<geom geom="g2" sidesite="side2"/>
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<site site="s5"/>
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<geom geom="g3" sidesite="side3"/>
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<site site="s6"/>
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</spatial>
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</tendon>
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<pulley divisor="2"/>
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<site site="s3"/>
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<geom geom="g2" sidesite="side2"/>
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<site site="s5"/>
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<geom geom="g3" sidesite="side3"/>
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<site site="s6"/>
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</spatial>
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</tendon>
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</mujoco>
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