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Remove "global" option from [compiler/coordinate](https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate) attribute.

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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
2023-04-04 05:58:53 -07:00
committed by Copybara-Service
parent b327058641
commit 7cc42ecf2a
14 changed files with 705 additions and 806 deletions
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doc/_static/example.xml
Vendored
+16 -17
View File
@@ -1,6 +1,4 @@
<mujoco model="example">
<compiler coordinate="global"/>
<default>
<geom rgba=".8 .6 .4 1"/>
</default>
@@ -11,25 +9,26 @@
<worldbody>
<light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
<body>
<geom type="capsule" fromto="0 0 1 0 0 0.6" size="0.06"/>
<joint type="ball" pos="0 0 1"/>
<body>
<geom type="capsule" fromto="0 0 0.6 0.3 0 0.6" size="0.04"/>
<joint type="hinge" pos="0 0 0.6" axis="0 1 0"/>
<joint type="hinge" pos="0 0 0.6" axis="1 0 0"/>
<body>
<geom type="ellipsoid" pos="0.4 0 0.6" size="0.1 0.08 0.02"/>
<site name="end1" pos="0.5 0 0.6" type="sphere" size="0.01"/>
<joint type="hinge" pos="0.3 0 0.6" axis="0 1 0"/>
<joint type="hinge" pos="0.3 0 0.6" axis="0 0 1"/>
<body pos="0 0 1">
<joint type="ball"/>
<geom type="capsule" size="0.06" fromto="0 0 0 0 0 -.4"/>
<body pos="0 0 -0.4">
<joint axis="0 1 0"/>
<joint axis="1 0 0"/>
<geom type="capsule" size="0.04" fromto="0 0 0 .3 0 0"/>
<body pos=".3 0 0">
<joint axis="0 1 0"/>
<joint axis="0 0 1"/>
<geom pos=".1 0 0" size="0.1 0.08 0.02" type="ellipsoid"/>
<site name="end1" pos="0.2 0 0" size="0.01"/>
</body>
</body>
</body>
<body>
<geom type="cylinder" fromto="0.5 0 0.2 0.5 0 0" size="0.07"/>
<site name="end2" pos="0.5 0 0.2" type="sphere" size="0.01"/>
<body pos="0.3 0 0.1">
<joint type="free"/>
<geom size="0.07 0.1" type="cylinder"/>
<site name="end2" pos="0 0 0.1" size="0.01"/>
</body>
</worldbody>