增加 mj_multiRay 参数 normal#10
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视频使用的版本中还未更新normal，在3.5.0之后官方拓展了ray的功能，详细内容可以去查看version-3-5-0-february-12-2026，我后续会补充文档及代码使其兼容新旧版本，兼容操作可以在mujoco_ray_caster中查看 |
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感谢您指出问题🌹 |
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在运行Chapter7-ray/ray.py时出现如下报错：
TypeError: mj_multiRay(): incompatible function arguments. The following argument types are supported: 1. (m: mujoco._structs.MjModel, d: mujoco._structs.MjData, pnt: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"], vec: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]"], geomgroup: typing.Annotated[numpy.typing.NDArray[numpy.uint8], "[6, 1]"] | None, flg_static: bool, bodyexclude: typing.SupportsInt | typing.SupportsIndex, geomid: typing.Annotated[numpy.typing.NDArray[numpy.int32], "[m, 1]", "flags.writeable"], dist: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]", "flags.writeable"], normal: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]", "flags.writeable"] | None, nray: typing.SupportsInt | typing.SupportsIndex, cutoff: typing.SupportsFloat | typing.SupportsIndex) -> None报错提示mj_multiRay()需要的参数中包括
normal: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[m, 1]", "flags.writeable"] | None,，原先的代码中的mj_multiRay()并不包括normal。在您的视频中运行正常，应该是mujoco版本更新增加了normal参数，我增加了这个参数确保程序正常运行。