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azeey avatar azeey commented on August 20, 2024

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

from gz-mujoco.

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