Merge branch 'google-deepmind:main' into main
This commit is contained in:
Andrew Luo
@@ -3181,6 +3181,12 @@ the direction specified by the dir attribute. It does not have a full spatial fr
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:at:`dir`: :at-val:`real(3), "0 0 -1"`
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Direction of the light.
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.. _body-light-radius:
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:at:`radius`: :at-val:`real, "0"`
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Radius of the light, affects shadow softness. This attribute has no effect in MuJoCo's native renderer, but it can be
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useful when rendering scenes with an external renderer.
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.. _body-light-attenuation:
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:at:`attenuation`: :at-val:`real(3), "1 0 0"`
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@@ -7586,6 +7592,8 @@ if omitted.
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.. _default-light-dir:
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.. _default-light-radius:
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.. _default-light-directional:
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.. _default-light-castshadow:
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+8
-6
@@ -369,11 +369,11 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`castshadow<body-light-castshadow>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`attenuation<body-light-attenuation>` | |
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| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`radius<body-light-radius>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | |
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| | | | :ref:`attenuation<body-light-attenuation>` | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | | |
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| | | | :ref:`diffuse<body-light-diffuse>` | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| body |br| |_| |L| | | .. table:: |
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@@ -1378,11 +1378,13 @@
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| :ref:`light | ? | :class: mjcf-attributes |
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| <default-light>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`directional<default-light-directional>` | :ref:`castshadow<default-light-castshadow>` | |
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| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`radius<default-light-radius>` | :ref:`directional<default-light-directional>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | |
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| | | | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | |
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| | | | :ref:`exponent<default-light-exponent>` | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`mode<default-light-mode>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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+20
-1
@@ -2,6 +2,25 @@
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Changelog
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=========
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Upcoming version (not yet released)
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-----------------------------------
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General
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^^^^^^^
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1. Added ``mjModel.mesh_scale``: the scaling applied to asset vertices, as specified in the
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:ref:`scale<asset-mesh-scale>` attribute.
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2. Added the :ref:`light/radius<body-light-radius>` attribute and corresponding ``mjModel.light_radius`` field. This
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value has no effect in MuJoCo's native renderer, but can be usful when rendering scenes with an external renderer.
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MJX
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^^^
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3. Added cylinder plane collisions.
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Bug fixes
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^^^^^^^^^
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4. Defaults of lights were not being saved, now fixed.
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Version 3.1.4 (April 10th, 2024)
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--------------------------------
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@@ -27,7 +46,7 @@ General
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model
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`refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`__,
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which demostrates Cartesian actuation of an arm, has been updated to use this attribute.
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3. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
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3. Added support for gmsh format 2.2 , tetrahedral mesh, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
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4. Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion.
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+14
-12
@@ -1082,6 +1082,7 @@ struct mjModel_ {
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mjtByte* light_active; // is light on (nlight x 1)
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mjtNum* light_pos; // position rel. to body frame (nlight x 3)
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mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
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mjtNum* light_radius; // radius of the light (nlight x 1)
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mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
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mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
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mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
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@@ -1165,6 +1166,7 @@ struct mjModel_ {
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int* mesh_facenormal; // normal face data (nmeshface x 3)
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int* mesh_facetexcoord; // texture face data (nmeshface x 3)
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int* mesh_graph; // convex graph data (nmeshgraph x 1)
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mjtNum* mesh_scale; // scaling applied to asset vertices (nmesh x 3)
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mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
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mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
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int* mesh_pathadr; // address of asset path for mesh; -1: none (nmesh x 1)
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@@ -1194,20 +1196,20 @@ struct mjModel_ {
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int* skin_pathadr; // address of asset path for skin; -1: none (nskin x 1)
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// height fields
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mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
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int* hfield_nrow; // number of rows in grid (nhfield x 1)
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int* hfield_ncol; // number of columns in grid (nhfield x 1)
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int* hfield_adr; // address in hfield_data (nhfield x 1)
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float* hfield_data; // elevation data (nhfielddata x 1)
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int* hfield_pathadr; // address of asset path for hfield; -1: none (nhfield x 1)
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mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
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int* hfield_nrow; // number of rows in grid (nhfield x 1)
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int* hfield_ncol; // number of columns in grid (nhfield x 1)
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int* hfield_adr; // address in hfield_data (nhfield x 1)
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float* hfield_data; // elevation data (nhfielddata x 1)
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int* hfield_pathadr; // address of hfield asset path; -1: none (nhfield x 1)
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// textures
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int* tex_type; // texture type (mjtTexture) (ntex x 1)
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int* tex_height; // number of rows in texture image (ntex x 1)
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int* tex_width; // number of columns in texture image (ntex x 1)
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int* tex_adr; // address in rgb (ntex x 1)
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mjtByte* tex_rgb; // rgb (alpha = 1) (ntexdata x 1)
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int* tex_pathadr; // address of asset path for texture; -1: none (ntex x 1)
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int* tex_type; // texture type (mjtTexture) (ntex x 1)
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int* tex_height; // number of rows in texture image (ntex x 1)
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int* tex_width; // number of columns in texture image (ntex x 1)
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int* tex_adr; // address in rgb (ntex x 1)
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mjtByte* tex_rgb; // rgb (alpha = 1) (ntexdata x 1)
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int* tex_pathadr; // address of texture asset path; -1: none (ntex x 1)
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// materials
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int* mat_texid; // texture id; -1: none (nmat x 1)
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