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Add framelinacc and frameangacc sensors to MJX.

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PiperOrigin-RevId: 675141513
Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8
This commit is contained in:
Taylor Howell
2024-09-16 07:32:59 -07:00
committed by Copybara-Service
parent b0c7101f1c
commit f9401776d4
5 changed files with 58 additions and 2 deletions
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mjx/mujoco/mjx/test_data/sensor/sensor.xml
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@@ -30,6 +30,8 @@
-torque
-actuatorfrc
-jointactfrc
-framelinacc
-frameangacc
-->
<mujoco model="sensor">
<asset>
@@ -144,6 +146,8 @@
<camprojection site="frontorigin" camera="fixedcamera"/>
<magnetometer name="magnetometer1" site="site1"/>
<jointpos name="jointpos1" joint="hinge1"/>
<framelinacc name="framelinacc0" objtype="site" objname="site0"/>
<frameangacc name="frameangacc0" objtype="site" objname="site0"/>
<jointvel name="jointvel1" joint="hinge1"/>
<actuatorpos name="actuatorpos1" actuator="motor1"/>
<subtreelinvel name="subtreelinvel1" body="body1"/>
@@ -160,9 +164,11 @@
<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"/>
<framelinacc name="framelinacc1" objtype="site" objname="site1"/>
<rangefinder name="rangefinder1" site="site_rangefinder1"/>
<subtreecom name="subtreecom1" body="body1"/>
<accelerometer name="accelerometer0" site="site0"/>
<frameangacc name="frameangacc1" objtype="site" objname="site1"/>
<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"/>