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Add accelerometer to MJX.

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PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
This commit is contained in:
Taylor Howell
2024-09-05 06:55:51 -07:00
committed by Copybara-Service
parent 20296466b1
commit fa156ed22f
5 changed files with 47 additions and 9 deletions
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mjx/mujoco/mjx/test_data/sensor/sensor.xml
+3
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@@ -25,6 +25,7 @@
-subtreelinvel
-subtreeangmom
* acceleration/force-dependent sensors:
-accelerometer
-actuatorfrc
-jointactfrc
-->
@@ -93,6 +94,7 @@
<gyro name="gyro0" site="site0"/>
<gyro name="gyro0cutoff" site="site0" cutoff="2e-3"/>
<rangefinder name="rangefinder0" site="site_rangefinder0"/>
<accelerometer name="accelerometer1" site="site1"/>
<jointpos name="jointpos0" joint="hinge0"/>
<jointpos name="jointpos0cutoff" joint="hinge0" cutoff="1e-4"/>
<jointvel name="jointvel0" joint="hinge0"/>
@@ -140,6 +142,7 @@
<framequat name="framequat0" objtype="site" objname="site0"/>
<rangefinder name="rangefinder1" site="site_rangefinder1"/>
<subtreecom name="subtreecom1" body="body1"/>
<accelerometer name="accelerometer0" site="site0"/>
<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"/>