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Add framelinvel and frameangvel sensors to MJX.

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PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
This commit is contained in:
Taylor Howell
2024-08-31 06:11:57 -07:00
committed by Copybara-Service
parent 651868ab05
commit 9805df616b
4 changed files with 91 additions and 4 deletions
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mjx/mujoco/mjx/test_data/sensor.xml
+13 -1
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@@ -20,6 +20,8 @@
-jointvel
-actuatorvel
-ballangvel
-framelinvel
-frameangvel
* acceleration/force-dependent sensors:
-actuatorfrc
-jointactfrc
@@ -46,7 +48,7 @@
<!-- body 2 -->
<body name="body2" pos=".1 .1 .1">
<joint name="ballquat2" type="ball" pos="0.1 0.1 0.1"/>
<geom size="1"/>
<geom name="geom2" size="1"/>
</body>
<!-- body 3 -->
@@ -94,6 +96,8 @@
<jointvel name="jointvel0" joint="hinge0"/>
<jointvel name="jointvel0cutoff" joint="hinge0" cutoff="1e-3"/>
<actuatorfrc name="actuatorfrc0" actuator="motor0"/>
<framelinvel name="framelinvel3" objtype="site" objname="site3"/>
<framelinvel name="framelinvel3ref" objtype="site" objname="site3" reftype="body" refname="body2"/>
<actuatorpos name="actuatorpos0" actuator="motor0"/>
<actuatorvel name="actuatorvel0" actuator="motor0"/>
<ballquat name="ballquat2" joint="ballquat2"/>
@@ -106,6 +110,9 @@
<framepos name="framepos0" objtype="site" objname="site0"/>
<velocimeter name="velocimeter1" site="site1"/>
<gyro name="gyro1" site="site1"/>
<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"/>
<actuatorfrc name="actuatorfrc1" actuator="motor1"/>
<subtreecom name="subtreecom0" body="body0"/>
<camprojection site="frontorigin" camera="fixedcamera"/>
@@ -121,10 +128,15 @@
<ballquat name="ballquat3" joint="ballquat3"/>
<camprojection site="frontcenter" camera="fixedcamera"/>
<ballangvel name="ballangvel3" joint="ballquat3"/>
<frameangvel name="frameangvel0" objtype="site" objname="site0"/>
<frameangvel name="frameangvel0ref" objtype="site" objname="site0" reftype="site" refname="site3"/>
<frameyaxis name="frameyaxis1" objtype="site" objname="site1"/>
<framequat name="framequat0" objtype="site" objname="site0"/>
<rangefinder name="rangefinder1" site="site_rangefinder1"/>
<subtreecom name="subtreecom1" body="body1"/>
<framelinvel name="framelinvel0" objtype="site" objname="site0"/>
<framelinvel name="framelinvel0ref" objtype="site" objname="site0" reftype="geom" refname="geom2"/>
<framelinvel name="framelinvel0cutoff" objtype="site" objname="site0" cutoff="3e-4"/>
<clock/>
</sensor>
</mujoco>