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Breaking change: Add surface normal output to MuJoCo raycast functions.

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PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
This commit is contained in:
Yuval Tassa
2026-01-13 10:21:31 -08:00
committed by Copybara-Service
parent 37762e3f70
commit 218226fc95
17 changed files with 457 additions and 326 deletions
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python/mujoco/introspect/functions.py
+120 -72
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@@ -3729,74 +3729,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
parameters=(),
doc='Return the current version of MuJoCo as a null-terminated string.', # pylint: disable=line-too-long
)),
('mj_multiRay',
FunctionDecl(
name='mj_multiRay',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='geomgroup',
type=PointerType(
inner_type=ValueType(name='mjtByte', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='flg_static',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='bodyexclude',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='geomid',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='dist',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='nray',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='cutoff',
type=ValueType(name='mjtNum'),
),
),
doc='Intersect multiple rays emanating from a single point. Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.', # pylint: disable=line-too-long
)),
('mj_ray',
FunctionDecl(
name='mj_ray',
@@ -3851,8 +3783,92 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
nullable=True,
),
FunctionParameterDecl(
name='normal',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
nullable=True,
),
),
doc='Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return distance (x) to nearest surface, or -1 if no intersection and output geomid. geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.', # pylint: disable=line-too-long
doc='Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return distance (x) to nearest surface, or -1 if no intersection. geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.', # pylint: disable=line-too-long
)),
('mj_multiRay',
FunctionDecl(
name='mj_multiRay',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='geomgroup',
type=PointerType(
inner_type=ValueType(name='mjtByte', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='flg_static',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='bodyexclude',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='geomid',
type=PointerType(
inner_type=ValueType(name='int'),
),
nullable=True,
),
FunctionParameterDecl(
name='dist',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='normal',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
nullable=True,
),
FunctionParameterDecl(
name='nray',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='cutoff',
type=ValueType(name='mjtNum'),
),
),
doc='Intersect multiple rays emanating from a single point, compute normals if given. Similar semantics to mj_ray, but vec, normal and dist are arrays. Geoms further than cutoff are ignored.', # pylint: disable=line-too-long
)),
('mj_rayHfield',
FunctionDecl(
@@ -3889,6 +3905,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
extents=(3,),
),
),
FunctionParameterDecl(
name='normal',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
nullable=True,
),
),
doc='Intersect ray with hfield; return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
@@ -3927,6 +3951,14 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
extents=(3,),
),
),
FunctionParameterDecl(
name='normal',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
nullable=True,
),
),
doc='Intersect ray with mesh; return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
@@ -3974,12 +4006,20 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
name='geomtype',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='normal',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
nullable=True,
),
),
doc='Intersect ray with pure geom; return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
('mju_rayFlex',
('mj_rayFlex',
FunctionDecl(
name='mju_rayFlex',
name='mj_rayFlex',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
@@ -4040,8 +4080,16 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
nullable=True,
),
FunctionParameterDecl(
name='normal',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
nullable=True,
),
),
doc='Intersect ray with flex; return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
doc='Intersect ray with flex; return nearest distance or -1 if no intersection, and also output nearest vertex id and surface normal.', # pylint: disable=line-too-long
)),
('mju_raySkin',
FunctionDecl(