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Bump MuJoCo 3.1.6 -> 3.8.1 (fixes mj_multiRay culling misses at slab … #170

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Merged
wdc3iii merged 1 commit into from
Jul 12, 2026
Merged

Bump MuJoCo 3.1.6 -> 3.8.1 (fixes mj_multiRay culling misses at slab … #170

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4 changes: 3 additions & 1 deletion obelisk/cpp/obelisk_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,9 @@ if(USE_MUJOCO)
find_package(Eigen3 REQUIRED)

include(FetchContent)
set(MUJOCO_VERSION "3.1.6" CACHE STRING "mujoco version")
# >= 3.5.0 required: mj_multiRay's angular culling in <= 3.4 wrongly drops
# large slabs near the ray origin (below-ground lidar returns at slab seams)
set(MUJOCO_VERSION "3.8.1" CACHE STRING "mujoco version")
set(COMP_ARCH "x86_64" CACHE STRING "computer architecture")

FetchContent_Declare(
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6 changes: 4 additions & 2 deletions obelisk/cpp/obelisk_cpp/include/obelisk_mujoco_sim_robot.h
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Expand Up @@ -1539,16 +1539,18 @@ namespace obelisk {
Eigen::Matrix<double, Eigen::Dynamic, 3, Eigen::RowMajor> dirs_rm = dirs_w;
std::vector<int> geomids(num_rays, -1);
const mjtNum cutoff = iface.get_max_distance() > 0.0 ? iface.get_max_distance() : mjMAXVAL;
// mujoco >= 3.5: ray functions take an optional surface-normal
// output (nullptr = not needed)
mj_multiRay(this->model_, this->data_, origin.data(), dirs_rm.data(),
iface.get_geom_group_mask(), 1, -1, geomids.data(), dists.data(),
num_rays, cutoff);
nullptr, num_rays, cutoff);
} else {
int geom_id[1] = { -1 };
for (int ii = 0; ii < num_rays; ++ii) {
Eigen::Vector3d ray_origin = starts_w.row(ii).transpose();
Eigen::Vector3d direction = dirs_w.row(ii).transpose();
dists[ii] = mj_ray(this->model_, this->data_, ray_origin.data(), direction.data(),
iface.get_geom_group_mask(), 1, -1, geom_id);
iface.get_geom_group_mask(), 1, -1, geom_id, nullptr);
}
}
}
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