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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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test/engine/testdata/sensor/insidesite.xml
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+34
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<mujoco model="insidesite sensor">
<default>
<site rgba=".4 .7 .6 .3"/>
</default>
<worldbody>
<light pos="0 0 3"/>
<geom name="plane" type="plane" pos="0 0 .5" size="2 2 .01" rgba="0.5 0.5 0.5 1"/>
<body pos="0 0 1">
<joint type="slide" axis="1 0 0" range="-.7 .7" solreflimit="-200 0"/>
<geom name="query" type="sphere" size=".02" rgba="1 0 0 1"/>
</body>
<site name="sphere" type="sphere" size=".11" pos="-.5 0 1"/>
<site name="capsule" type="capsule" size=".08 .15" euler="20 -40 60" pos="-.25 0 1"/>
<site name="ellipsoid" type="ellipsoid" size=".11 .15 .09" euler="20 40 -60" pos="0 0 1"/>
<site name="cylinder" type="cylinder" size=".09 .12" euler="-20 40 60" pos=".25 0 1"/>
<site name="box" type="box" size=".08 .1 .14" euler="20 -40 60" pos=".5 0 1"/>
</worldbody>
<sensor>
<insidesite name="sphere" site="sphere" objtype="geom" objname="query"/>
<insidesite name="capsule" site="capsule" objtype="geom" objname="query"/>
<insidesite name="ellipsoid" site="ellipsoid" objtype="geom" objname="query"/>
<insidesite name="cylinder" site="cylinder" objtype="geom" objname="query"/>
<insidesite name="box" site="box" objtype="geom" objname="query"/>
</sensor>
<keyframe>
<key qvel="1"/>
</keyframe>
</mujoco>