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Extend rangefinder sensor to support cameras.

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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
This commit is contained in:
Yuval Tassa
2025-12-23 12:03:37 -08:00
committed by Copybara-Service
parent 4a871990e9
commit 9d646e6548
17 changed files with 383 additions and 39 deletions
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doc/XMLreference.rst
+20 -7
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@@ -6373,12 +6373,20 @@ site frame. The output is a 3D vector.
:el-prefix:`sensor/` |-| **rangefinder** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a rangefinder. It measures the distance to the nearest geom surface, along the ray defined by the
positive Z-axis of the sensor site. If the ray does not intersect any geom surface, the sensor output is -1. If the
origin of the ray is inside a geom, the surface is still sensed (but not the inner volume). Geoms attached to the same
body as the sensor site are excluded. Invisible geoms, defined as geoms whose rgba (or whose material rgba) has alpha=0,
are also excluded. Note however that geoms made invisible in the visualizer by disabling their geom group are not
excluded; this is because sensor calculations are independent of the visualizer.
This element creates a rangefinder.
- If associated with a :ref:`site<sensor-rangefinder-site>`, it measures the distance to the nearest geom surface, along
the ray defined by the positive Z-axis of the site.
- If associated with a :ref:`camera<sensor-rangefinder-camera>`, it outputs one distance measurement for each pixel in
the camera image. Note that cameras face the :ref:`negative Z-axis<body-camera>` of their frame. The number of
measurements in this case is equal to product of the camera's width and height
:ref:`resolutions<body-camera-resolution>`.
If a ray does not intersect any geom surface, the sensor output is -1. If the origin of the ray is inside a geom, the
surface is still detected. Geoms attached to the same body as the sensor site/camera are excluded. Invisible geoms,
defined as geoms whose rgba (or whose material rgba) has alpha=0, are also excluded. Note however that geoms made
invisible in the visualizer by disabling their geom group are not excluded; this is because sensor calculations are
independent of the visualizer.
.. _sensor-rangefinder-name:
@@ -6393,9 +6401,14 @@ excluded; this is because sensor calculations are independent of the visualizer.
.. _sensor-rangefinder-site:
:at:`site`: :at-val:`string, required`
:at:`site`: :at-val:`string, optional`
The site where the sensor is attached.
.. _sensor-rangefinder-camera:
:at:`camera`: :at-val:`string, optional`
The camera where the sensor is attached.
.. _sensor-camprojection:
:el-prefix:`sensor/` |-| **camprojection** (*)
doc/XMLschema.rst
+2 -2
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@@ -940,9 +940,9 @@
| :ref:`rangefinder | \* | :class: mjcf-attributes |
| <sensor-rangefinder>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-rangefinder-name>` | :ref:`site<sensor-rangefinder-site>` | :ref:`cutoff<sensor-rangefinder-cutoff>` | :ref:`noise<sensor-rangefinder-noise>` | |
| | | | :ref:`name<sensor-rangefinder-name>` | :ref:`site<sensor-rangefinder-site>` | :ref:`camera<sensor-rangefinder-camera>` | :ref:`cutoff<sensor-rangefinder-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-rangefinder-user>` | | | | |
| | | | :ref:`noise<sensor-rangefinder-noise>` | :ref:`user<sensor-rangefinder-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
doc/changelog.rst
+2
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@@ -20,6 +20,8 @@ General
^^^^^^^
- Camera frustum visualization is now triggered by setting :ref:`resolution<body-camera-resolution>` to values larger
than 1. Relatedly, frustum visualization also works for :ref:`orthographic<body-camera-projection>` cameras.
- Rangefinder sensors can now be attached to a camera using the :ref:`ragefinder/camera<sensor-rangefinder-camera>`
attribute. In this case, the sensor will cast multiple ray, one for each camera pixel.
- Non-breaking ABI changes:
- The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
doc/includes/references.h
+1 -2
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@@ -678,7 +678,6 @@ typedef enum mjtObj_ { // type of MujoCo object
mjOBJ_FRAME = 100, // frame
mjOBJ_DEFAULT, // default
mjOBJ_MODEL // entire model
} mjtObj;
typedef enum mjtSensor_ { // type of sensor
// common robotic sensors, attached to a site
@@ -689,7 +688,7 @@ typedef enum mjtSensor_ { // type of sensor
mjSENS_FORCE, // 3D force between site's body and its parent body
mjSENS_TORQUE, // 3D torque between site's body and its parent body
mjSENS_MAGNETOMETER, // 3D magnetometer
mjSENS_RANGEFINDER, // scalar distance to nearest geom or site along z-axis
mjSENS_RANGEFINDER, // scalar distance to nearest geom along z-axis
mjSENS_CAMPROJECTION, // pixel coordinates of a site in the camera image
// sensors related to scalar joints, tendons, actuators