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Add ray intersection with ellipsoid to MJX.

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PiperOrigin-RevId: 690557087
Change-Id: Icd2f0be1243574720baeac82b8bdd92e57c6a61c
This commit is contained in:
Taylor Howell
2024-10-28 04:24:11 -07:00
committed by Copybara-Service
parent a36f2cccb6
commit 3c21abc0e5
3 changed files with 31 additions and 0 deletions
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mjx/mujoco/mjx/test_data/sensor/sensor.xml
+6
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@@ -119,6 +119,11 @@
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125"/>
<site name="touch_box" pos="-0.5 0 0" type="box" size="0.025 0.025 0.025"/>
</body>
<body pos="-20 -20.75 -20">
<freejoint/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125"/>
<site name="touch_ellipsoid" type="ellipsoid" pos="0.5 0 0.0" size="0.05 0.01 0.02"/>
</body>
</worldbody>
<actuator>
@@ -178,6 +183,7 @@
<framepos name="framepos0" objtype="site" objname="site0"/>
<velocimeter name="velocimeter1" site="site1"/>
<gyro name="gyro1" site="site1"/>
<touch name="touch_ellipsoid" site="touch_ellipsoid"/>
<frameangvel name="frameangvel3" objtype="site" objname="site3"/>
<frameangvel name="frameangvel3ref" objtype="site" objname="site3" reftype="body" refname="body2"/>
<frameangvel name="frameangvel3cutoff" objtype="site" objname="site3" cutoff="1e-3"/>