Bump MuJoCo 3.1.6 -> 3.8.1 (fixes mj_multiRay culling misses at slab … - #170
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…seams) mj_multiRay in MuJoCo <= 3.4 computes per-geom angular culling windows from AABB corners with no margin, so large thin ground slabs adjacent to the ray origin (e.g. standing near a seam between two ground boxes) get culled for steep rays: the simulated lidar reports whatever lies below instead of the slab top face. 3.5.0 added a distance-dependent angular margin that fixes this (verified empirically: 103/120 seam rays wrong on 3.1.6, 0/120 on 3.8.1). Breaking API change absorbed: mj_ray / mj_multiRay grew a surface-normal output argument in 3.5.0 -- pass nullptr at both CastRays call sites. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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…seams)
mj_multiRay in MuJoCo <= 3.4 computes per-geom angular culling windows from AABB corners with no margin, so large thin ground slabs adjacent to the ray origin (e.g. standing near a seam between two ground boxes) get culled for steep rays: the simulated lidar reports whatever lies below instead of the slab top face. 3.5.0 added a distance-dependent angular margin that fixes this (verified empirically: 103/120 seam rays wrong on 3.1.6, 0/120 on 3.8.1).
Breaking API change absorbed: mj_ray / mj_multiRay grew a surface-normal output argument in 3.5.0 -- pass nullptr at both CastRays call sites.