Add additional data fields that can be reported by rangefinder sensors.

PiperOrigin-RevId: 848316991 Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:31:53 -08:00
parent f2e9097ed6
commit 70bc7be4bc
27 changed files with 712 additions and 133 deletions
@@ -1,5 +1,4 @@
 <mujoco>
-
  <asset>
    <hfield name="hfield" nrow="5" ncol="5" size=".8 .8 .8 .3"
            elevation="1 0 1 1 0
@@ -1,6 +1,8 @@
 <mujoco>
+  <statistic meansize="0.15"/>
+
  <visual>
-    <global realtime=".25"/>
+    <global realtime=".25" elevation="-10"/>
  </visual>

  <default>
@@ -17,6 +19,6 @@
  </worldbody>

  <sensor>
-    <rangefinder site="rf"/>
+    <rangefinder site="rf" data="dist normal"/>
  </sensor>
 </mujoco>