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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
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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`