Advanced / Internal Helpers

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_table_to_spec (mjSpec *spec, const TableSpec &t)
void	mj_kdl::add_objects_to_spec (mjSpec *spec, const std::vector< SceneObject > &objects)
void	mj_kdl::configure_spec (mjSpec *spec, const SceneSpec *sc)
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() and configure_spec(). 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() and configure_spec(), 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.

add_table_to_spec()

void mj_kdl::add_table_to_spec	(	mjSpec *	spec,
		const TableSpec &	t
	)

Add a table (tabletop + four legs) to the world body of spec.

Parameters

spec	MuJoCo spec to modify.
t	Table geometry, size, and colour.

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.

configure_spec()

void mj_kdl::configure_spec	(	mjSpec *	spec,
		const SceneSpec *	sc
	)

Apply all SceneSpec settings to a parsed mjSpec: physics options (timestep, gravity), compiler flags, and scene decorations (skybox, floor, table, objects) according to the flags in sc.

ensure_plugins_loaded()

void mj_kdl::ensure_plugins_loaded

(

)

Load MuJoCo decoder plugins (STL, OBJ, ...) once at first use. Required since MuJoCo 3.6.0 moved mesh decoders to 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.