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Add insidesite sensor for detecting when an object is inside the volume of a site.

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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
This commit is contained in:
Yuval Tassa
2025-07-09 04:55:51 -07:00
committed by Copybara-Service
parent a86461fc57
commit e6c5715903
17 changed files with 244 additions and 27 deletions
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doc/XMLschema.rst
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@@ -1203,6 +1203,15 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`insidesite | \* | :class: mjcf-attributes |
| <sensor-insidesite>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-insidesite-name>` | :ref:`site<sensor-insidesite-site>` | :ref:`objtype<sensor-insidesite-objtype>` | :ref:`objname<sensor-insidesite-objname>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cutoff<sensor-insidesite-cutoff>` | :ref:`noise<sensor-insidesite-noise>` | :ref:`user<sensor-insidesite-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`distance | \* | :class: mjcf-attributes |
| <sensor-distance>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |