chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Add texture fields to mjx.Model for madrona collaborators.

Browse Source 
PiperOrigin-RevId: 691170517
Change-Id: Icb8e2d6ed65a13d17dc2565d3d84de629a10c37a
This commit is contained in:
Baruch Tabanpour
2024-10-29 14:48:10 -07:00
committed by Copybara-Service
parent f47840e57c
commit 03d04f6096
1 changed files with 29 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/mujoco/mjx/_src/types.py
+29 -3
View File
@@ -514,6 +514,8 @@ class Model(PyTreeNode):
nmeshgraph: number of ints in mesh auxiliary data
nhfield: number of heightfields
nhfielddata: number of data points in all heightfields
ntex: number of textures
ntexdata: number of bytes in texture rgb data
nmat: number of materials
npair: number of predefined geom pairs
nexclude: number of excluded geom pairs
@@ -635,6 +637,7 @@ class Model(PyTreeNode):
light_mode: light tracking mode (mjtCamLight) (nlight,)
light_bodyid: id of light's body (nlight,)
light_targetbodyid: id of targeted body; -1: none (nlight,)
light_directional: directional light (nlight,)
light_pos: position rel. to body frame (nlight, 3)
light_dir: direction rel. to body frame (nlight, 3)
light_poscom0: global position rel. to sub-com in qpos0 (nlight, 3)
@@ -692,12 +695,22 @@ class Model(PyTreeNode):
mesh_pos: translation applied to asset vertices (nmesh, 3)
mesh_quat: rotation applied to asset vertices (nmesh, 4)
mesh_convex: pre-compiled convex mesh info for MJX (nmesh,)
mesh_texcoordadr: texcoord data address; -1: no texcoord (nmesh,)
mesh_texcoordnum: number of texcoord (nmesh,)
mesh_texcoord: vertex texcoords for all meshes (nmeshtexcoord, 2)
hfield_size: (x, y, z_top, z_bottom) (nhfield,)
hfield_nrow: number of rows in grid (nhfield,)
hfield_ncol: number of columns in grid (nhfield,)
hfield_adr: address in hfield_data (nhfield,)
hfield_data: elevation data (nhfielddata,)
tex_type: texture type (mjtTexture) (ntex,)
tex_height: number of rows in texture image (ntex,)
tex_width: number of columns in texture image (ntex,)
tex_nchannel: number of channels in texture image (ntex,)
tex_adr: start address in tex_data (ntex,)
tex_data: pixel values (ntexdata,)
mat_rgba: rgba (nmat, 4)
mat_texid: indices of textures; -1: none (nmat, mjNTEXROLE)
pair_dim: contact dimensionality (npair,)
pair_geom1: id of geom1 (npair,)
pair_geom2: id of geom2 (npair,)
@@ -820,6 +833,8 @@ class Model(PyTreeNode):
nmeshgraph: int
nhfield: int
nhfielddata: int
ntex: int
ntexdata: int
nmat: int
npair: int
nexclude: int
@@ -944,14 +959,15 @@ class Model(PyTreeNode):
cam_resolution: np.ndarray
cam_sensorsize: np.ndarray
cam_intrinsic: np.ndarray
light_mode: np.ndarray = _restricted_to('mujoco')
light_mode: np.ndarray
light_bodyid: np.ndarray = _restricted_to('mujoco')
light_targetbodyid: np.ndarray = _restricted_to('mujoco')
light_directional: np.ndarray
light_pos: np.ndarray = _restricted_to('mujoco')
light_dir: np.ndarray = _restricted_to('mujoco')
light_poscom0: np.ndarray = _restricted_to('mujoco')
light_pos0: np.ndarray = _restricted_to('mujoco')
light_dir0: np.ndarray = _restricted_to('mujoco')
light_pos0: np.ndarray
light_dir0: np.ndarray
flex_contype: np.ndarray = _restricted_to('mujoco')
flex_conaffinity: np.ndarray = _restricted_to('mujoco')
flex_condim: np.ndarray = _restricted_to('mujoco')
@@ -1004,12 +1020,22 @@ class Model(PyTreeNode):
mesh_pos: np.ndarray
mesh_quat: np.ndarray
mesh_convex: Tuple[ConvexMesh, ...] = _restricted_to('mjx')
mesh_texcoordadr: np.ndarray
mesh_texcoordnum: np.ndarray
mesh_texcoord: np.ndarray
hfield_size: np.ndarray
hfield_nrow: np.ndarray
hfield_ncol: np.ndarray
hfield_adr: np.ndarray
hfield_data: jax.Array
tex_type: np.ndarray
tex_height: np.ndarray
tex_width: np.ndarray
tex_nchannel: np.ndarray
tex_adr: np.ndarray
tex_data: jax.Array
mat_rgba: np.ndarray
mat_texid: np.ndarray
pair_dim: np.ndarray
pair_geom1: np.ndarray
pair_geom2: np.ndarray