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Allow height-field elevation data to be specified in XML.

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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
This commit is contained in:
Yuval Tassa
2024-01-29 06:58:30 -08:00
committed by Copybara-Service
parent e6847f843d
commit e143b3dbc0
16 changed files with 258 additions and 35 deletions
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doc/XMLreference.rst
+11 -3
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@@ -1427,15 +1427,23 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
.. _asset-hfield-nrow:
:at:`nrow`: :at-val:`int, "0"`
This attribute and the next are used to allocate a height field in mjModel and leave the elevation data undefined
(i.e., set to 0). This attribute specifies the number of rows in the elevation data matrix. The default value of 0
means that the data will be loaded from a file, which will be used to infer the size of the matrix.
This attribute and the next are used to allocate a height field in mjModel. If the :at:`elevation` attribute is not
set, the elevation data is set to 0. This attribute specifies the number of rows in the elevation data matrix. The
default value of 0 means that the data will be loaded from a file, which will be used to infer the size of the
matrix.
.. _asset-hfield-ncol:
:at:`ncol`: :at-val:`int, "0"`
This attribute specifies the number of columns in the elevation data matrix.
.. _asset-hfield-elevation:
:at:`elevation`: :at-val:`real(nrow*ncol), optional`
This attribute specifies the elevation data matrix. Values are automatically normalized to lie between 0 and 1 by
first subtracting the minimum value and then dividing by the (maximum-minimum) difference, if not 0. If not provided,
values are set to 0.
.. _asset-hfield-size:
:at:`size`: :at-val:`real(4), required`
doc/XMLschema.rst
+1 -1
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@@ -157,7 +157,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<asset-hfield-name>` | :ref:`content_type<asset-hfield-content_type>` | :ref:`file<asset-hfield-file>` | :ref:`nrow<asset-hfield-nrow>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ncol<asset-hfield-ncol>` | :ref:`size<asset-hfield-size>` | | | |
| | | | :ref:`ncol<asset-hfield-ncol>` | :ref:`size<asset-hfield-size>` | :ref:`elevation<asset-hfield-elevation>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
doc/changelog.rst
+12 -9
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@@ -19,19 +19,22 @@ General
- Added color of :ref:`bounding volumes<visual-rgba-bv>` and :ref:`active bounding volumes<visual-rgba-bvactive>`
to :ref:`visual/rgba<visual-rgba>`.
4. Height-field elevation data can now be specified directly in XML with the :ref:`elevation<asset-hfield-elevation>`
attribute (and not only with PNG files).
See `example model <https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/hfield_xml.xml>`__.
MJX
^^^
4. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
5. Added :at:`site` transmission.
6. Updated MJX colab tutorial with more stable quadruped environment.
7. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
8. Added ``mjx.is_sparse`` which mirrors :ref:`mj_isSparse` and ``mjx.full_m`` which mirrors :ref:`mj_fullM`.
9. Added support for specifying sparse or dense mass matrices via :ref:`option-jacobian`.
5. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
6. Added :at:`site` transmission.
7. Updated MJX colab tutorial with more stable quadruped environment.
8. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
9. Added ``mjx.is_sparse`` which mirrors :ref:`mj_isSparse` and ``mjx.full_m`` which mirrors :ref:`mj_fullM`.
10. Added support for specifying sparse or dense mass matrices via :ref:`option-jacobian`.
Python bindings
^^^^^^^^^^^^^^^
10. Improved the implmentation of the :ref:`rollout<PySample>` module. Note the changes below are breaking, dependent
11. Improved the implmentation of the :ref:`rollout<PySample>` module. Note the changes below are breaking, dependent
code will require modification.
- Uses :ref:`mjSTATE_FULLPHYSICS<geFullPhysics>` as state spec, enabling divergence detection by inspecting time.
@@ -40,9 +43,9 @@ Python bindings
Bug fixes
^^^^^^^^^
11. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
12. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
:github:issue:`1270`.
12. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
13. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
bound of the length range. Fixes :github:issue:`1342`.