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add support for mjGEOM_SDF #31

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Merged
kevinzakka merged 2 commits into from
Aug 7, 2026
Merged

add support for mjGEOM_SDF #31

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3d8c2ea
add support for sdf geometry
nmarticorena Aug 7, 2026
e3a851f
lint format
nmarticorena Aug 7, 2026
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9 changes: 6 additions & 3 deletions src/mjviser/conversions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -504,7 +504,7 @@ def get_geom_texture_id(mj_model: mujoco.MjModel, geom_idx: int) -> int:
if geom_type == mjtGeom.mjGEOM_BOX:
return texid if _is_cubemap_texture(mj_model, texid) else -1

if geom_type != mjtGeom.mjGEOM_MESH:
if geom_type not in (mjtGeom.mjGEOM_MESH, mjtGeom.mjGEOM_SDF):
return -1

mesh_id = mj_model.geom_dataid[geom_idx]
Expand Down Expand Up @@ -582,7 +582,7 @@ def merge_geoms(mj_model: mujoco.MjModel, geom_ids: list[int]) -> trimesh.Trimes
"""Merge multiple geoms into a single trimesh in local body space."""
meshes = []
for geom_id in geom_ids:
if mj_model.geom_type[geom_id] == mjtGeom.mjGEOM_MESH:
if mj_model.geom_type[geom_id] in (mjtGeom.mjGEOM_MESH, mjtGeom.mjGEOM_SDF):
meshes.append(mujoco_mesh_to_trimesh(mj_model, geom_id))
else:
meshes.append(create_primitive_mesh(mj_model, geom_id))
Expand Down Expand Up @@ -641,7 +641,10 @@ def merge_geoms_hull(
quats: list[np.ndarray] = []

for geom_id in geom_ids:
if int(mj_model.geom_type[geom_id]) != int(mjtGeom.mjGEOM_MESH):
if int(mj_model.geom_type[geom_id]) not in (
int(mjtGeom.mjGEOM_MESH),
int(mjtGeom.mjGEOM_SDF),
):
continue

mesh_id = int(mj_model.geom_dataid[geom_id])
Expand Down
5 changes: 4 additions & 1 deletion src/mjviser/scene.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1246,7 +1246,10 @@ def _compute_hull_body_meshes(self) -> None:
"""Precompute one merged convex hull mesh per body that has mesh geoms."""
body_geoms: dict[int, list[int]] = {}
for geom_id in range(self.mj_model.ngeom):
if int(self.mj_model.geom_type[geom_id]) != int(mjtGeom.mjGEOM_MESH):
if int(self.mj_model.geom_type[geom_id]) not in (
int(mjtGeom.mjGEOM_MESH),
int(mjtGeom.mjGEOM_SDF),
):
continue
if int(self.mj_model.geom_dataid[geom_id]) < 0:
continue
Expand Down
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