Comments (1)
This table shows the mapping of sensors from SDFormat to MJCF.
SDFormat Sensor | Mapped MJCF Sensor |
---|---|
air_pressure | |
altimeter | framepos |
camera | body/camera |
contact | sensor/touch |
boundingbox_camera | |
boundingbox | |
custom | |
depth_camera | |
depth | |
force_torque | sensor/force and sensor/torque |
gps | |
ray/gpu_ray/lidar/gpu_lidar | sensor/rangefinder if sample is 1 |
imu | sensor/accelerometer and sensor/gyro |
logical_camera | |
magnetometer | sensor/magnetometer |
multicamera | body/camera |
navsat | |
rfid | |
rfidtag | |
rgbd / rgbd_camera | |
segmentation/ segmentation_camera | |
sonar | |
thermal/ thermal_camera | |
wireless_receiver | |
wireless_transmitter |
Given this mapping and the relative frequency of use of this sensors, I propose we map the following SDFormat sensors for our initial implementation:
- imu
- force_torque
- camera
- framepos
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Related Issues (18)
- Create python packaging files
- [SDFormat->MJCF] Support nested models
- [SDFormat->MJCF] Support `//world/light` and `//link/light` HOT 4
- conda installation HOT 3
- [SDFormat->MJCF] Support `//collision/surface` HOT 5
- [SDFormat->MJCF] Support `//visual/material` HOT 1
- README questions HOT 4
- Should enable CI for other versions of python HOT 1
- [SDFormat->MJCF] Should add support for revolute2 and universal joints
- [SDFormat->MJCF] Should add gearbox and screw type joints
- [SDFormat->MJCF] Material specular and emissive is a scalar not a color
- Gazebo and Mujoco have incompatible texture mapping for primitive shapes
- sdformat_to_mjcf: specify nconmax and njmax in SDFormat HOT 2
- [SDFormat->MJCF] Support meshes for collisions and visuals HOT 1
- [SDFormat->MJCF] Handle name collision between geoms
- Should detect if OBJ is composite and issue a warning
- [SDFormat->MJCF] Support kinematic loops
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