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Add light fields to mjx.Model, needed for Madrona.

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PiperOrigin-RevId: 707996293
Change-Id: I238dac72b8f209955b2a1060571db3b14e355dd5
This commit is contained in:
Erik Frey
2024-12-19 12:41:25 -08:00
committed by Copybara-Service
parent 526637f118
commit 4d0865c2e8
1 changed files with 6 additions and 2 deletions
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mjx/mujoco/mjx/_src/types.py
+6 -2
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@@ -666,11 +666,13 @@ class Model(PyTreeNode):
light_bodyid: id of light's body (nlight,) light_bodyid: id of light's body (nlight,)
light_targetbodyid: id of targeted body; -1: none (nlight,) light_targetbodyid: id of targeted body; -1: none (nlight,)
light_directional: directional light (nlight,) light_directional: directional light (nlight,)
light_castshadow: does light cast shadows (nlight,)
light_pos: position rel. to body frame (nlight, 3) light_pos: position rel. to body frame (nlight, 3)
light_dir: direction 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) light_poscom0: global position rel. to sub-com in qpos0 (nlight, 3)
light_pos0: global position rel. to body in qpos0 (nlight, 3) light_pos0: global position rel. to body in qpos0 (nlight, 3)
light_dir0: global direction in qpos0 (nlight, 3) light_dir0: global direction in qpos0 (nlight, 3)
light_cutoff: OpenGL cutoff (nlight,)
flex_contype: flex contact type (nflex,) flex_contype: flex contact type (nflex,)
flex_conaffinity: flex contact affinity (nflex,) flex_conaffinity: flex contact affinity (nflex,)
flex_condim: contact dimensionality (1, 3, 4, 6) (nflex,) flex_condim: contact dimensionality (1, 3, 4, 6) (nflex,)
@@ -879,7 +881,7 @@ class Model(PyTreeNode):
nB: int # pylint:disable=invalid-name nB: int # pylint:disable=invalid-name
nC: int # pylint:disable=invalid-name nC: int # pylint:disable=invalid-name
nD: int # pylint:disable=invalid-name nD: int # pylint:disable=invalid-name
nJmom: int nJmom: int # pylint:disable=invalid-name
ntree: int = _restricted_to('mujoco') ntree: int = _restricted_to('mujoco')
ngravcomp: int ngravcomp: int
nuserdata: int nuserdata: int
@@ -993,12 +995,14 @@ class Model(PyTreeNode):
light_mode: np.ndarray light_mode: np.ndarray
light_bodyid: np.ndarray = _restricted_to('mujoco') light_bodyid: np.ndarray = _restricted_to('mujoco')
light_targetbodyid: np.ndarray = _restricted_to('mujoco') light_targetbodyid: np.ndarray = _restricted_to('mujoco')
light_directional: np.ndarray light_directional: jax.Array
light_castshadow: jax.Array
light_pos: jax.Array light_pos: jax.Array
light_dir: jax.Array light_dir: jax.Array
light_poscom0: np.ndarray = _restricted_to('mujoco') light_poscom0: np.ndarray = _restricted_to('mujoco')
light_pos0: np.ndarray light_pos0: np.ndarray
light_dir0: np.ndarray light_dir0: np.ndarray
light_cutoff: jax.Array
flex_contype: np.ndarray = _restricted_to('mujoco') flex_contype: np.ndarray = _restricted_to('mujoco')
flex_conaffinity: np.ndarray = _restricted_to('mujoco') flex_conaffinity: np.ndarray = _restricted_to('mujoco')
flex_condim: np.ndarray = _restricted_to('mujoco') flex_condim: np.ndarray = _restricted_to('mujoco')