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Add force and torque sensors to MJX.

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PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
This commit is contained in:
Taylor Howell
2024-09-16 06:56:08 -07:00
committed by Copybara-Service
parent b15de2c951
commit 9d73211757
7 changed files with 69 additions and 5 deletions
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mjx/mujoco/mjx/test_data/sensor/model.xml
+16
View File
@@ -47,6 +47,22 @@
<body name="body_rangefinder" pos="1 2 4">
<geom size="0.01" material="material"/>
</body>
<!-- bodies for force + torque sensors -->
<body>
<joint type="hinge" axis="1 0 0"/>
<joint type="hinge" axis="0 1 0"/>
<joint type="hinge" axis="0 0 1"/>
<site name="site_force"/>
<geom size="0.1"/>
</body>
<body>
<joint type="slide" axis="1 0 0"/>
<joint type="slide" axis="0 1 0"/>
<joint type="slide" axis="0 0 1"/>
<site name="site_torque"/>
<geom size="0.1"/>
</body>
</worldbody>
<actuator>
mjx/mujoco/mjx/test_data/sensor/sensor.xml
+20
View File
@@ -26,6 +26,8 @@
-subtreeangmom
* acceleration/force-dependent sensors:
-accelerometer
-force
-torque
-actuatorfrc
-jointactfrc
-->
@@ -78,6 +80,22 @@
<body name="body_rangefinder" pos="1 2 4">
<geom size="0.01" material="material"/>
</body>
<!-- bodies for force + torque sensors -->
<body pos="-1 -1 -1">
<joint type="hinge" axis="1 0 0"/>
<joint type="hinge" axis="0 1 0"/>
<joint type="hinge" axis="0 0 1"/>
<site name="site_force"/>
<geom size="0.1"/>
</body>
<body pos="-2 -2 -2">
<joint type="slide" axis="1 0 0"/>
<joint type="slide" axis="0 1 0"/>
<joint type="slide" axis="0 0 1"/>
<site name="site_torque"/>
<geom size="0.1"/>
</body>
</worldbody>
<actuator>
@@ -88,6 +106,7 @@
</actuator>
<sensor>
<torque site="site_torque"/>
<magnetometer name="magnetometer0" site="site0"/>
<velocimeter name="velocimeter0" site="site0"/>
<velocimeter name="velocimeter0cutoff" site="site0" cutoff="3e-4"/>
@@ -95,6 +114,7 @@
<gyro name="gyro0cutoff" site="site0" cutoff="2e-3"/>
<rangefinder name="rangefinder0" site="site_rangefinder0"/>
<accelerometer name="accelerometer1" site="site1"/>
<force site="site_force"/>
<jointpos name="jointpos0" joint="hinge0"/>
<jointpos name="jointpos0cutoff" joint="hinge0" cutoff="1e-4"/>
<jointvel name="jointvel0" joint="hinge0"/>