add rangefinder sensor #214
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erikfrey
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May 14, 2025
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erikfrey
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One nit, and one question about whether this is JAX compatible
mujoco_warp/_src/ray.py
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| geomgroup = vec6(0, 0, 0, 0, 0, 0) | ||
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| if bodyexclude is None: | ||
| bodyexclude = wp.zeros(nrays, dtype=int) |
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is this JAX-safe? I thought we can't allocate arrays during cuda graph capture in JAX - no?
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not sure that ray.ray will work as is with cuda graph capture and be compatible with JAX.
the rangefinder sensor utilizes ray._ray and the Model field sensor_rangefinder_bodyid for the input to bodyexclude and should work with cuda graph capture.
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#277 is updated to add fields ray_dist and ray_geomid to Data and ray.ray utilizes these fields instead of allocating arrays.
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erikfrey
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May 30, 2025
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add rangefinder sensor
mujoco reference: https://github.com/google-deepmind/mujoco/blob/436b5a8e1f35b6acc5c64944b58a4834e8d38f0c/src/engine/engine_sensor.c#L262