Low-level mjSpec helpers exposed for custom scene assembly. More...

Functions
void	mj_kdl::add_skybox_to_spec (mjSpec *spec)
void	mj_kdl::add_floor_to_spec (mjSpec *spec)
void	mj_kdl::add_objects_to_spec (mjSpec *spec, const std::vector< SceneObject > &objects)
bool	mj_kdl::compile_and_make_data (mjSpec spec, mjModel out_model, mjData *out_data)
void	mj_kdl::ensure_plugins_loaded ()

Detailed Description

Low-level mjSpec helpers exposed for custom scene assembly.

These are used internally by build_scene(). They are not part of the stable public API and may change between releases.

Function Documentation

◆ add_floor_to_spec()

void mj_kdl::add_floor_to_spec ( mjSpec * spec )

Add a checker groundplane texture, material, and floor plane geom to spec. Corresponds to SceneSpec::add_floor.

◆ add_objects_to_spec()

void mj_kdl::add_objects_to_spec	(	mjSpec *	spec,
		const std::vector< SceneObject > &	objects )

Add free-floating or fixed rigid bodies to the world body of spec.

Parameters

spec	MuJoCo spec to modify.
objects	List of objects to add.

◆ add_skybox_to_spec()

void mj_kdl::add_skybox_to_spec ( mjSpec * spec )

Internal spec-building helpers.

These are used internally by build_scene() but are exposed here for advanced callers that construct mjSpec objects directly. They are not part of the stable public API and may change between releases.

Add a sky gradient texture and overhead directional light to spec. Corresponds to SceneSpec::add_skybox.

◆ compile_and_make_data()

bool mj_kdl::compile_and_make_data	(	mjSpec *	spec,
		mjModel **	out_model,
		mjData **	out_data )

Compile spec into a model and create its data buffer. spec is always deleted (on success and failure).

Parameters

[in]	spec	MuJoCo spec to compile; always freed by this call.
[out]	out_model	Newly allocated model on success; null on failure.
[out]	out_data	Newly allocated data on success; null on failure.

Returns: true on success.

◆ ensure_plugins_loaded()

void mj_kdl::ensure_plugins_loaded ( )

Load MuJoCo decoder plugins (STL, OBJ, ...) once at first use. Required for external mesh decoder plugin libraries. Called automatically by all scene-building functions; call explicitly only when building a scene via raw mjSpec APIs without going through the library.