sensors_mujoco

MuJoCo Sensors Module.

This module provides force-torque sensor implementations for the MuJoCo simulator. It mirrors the base sensor interfaces defined in robotblockset.sensors and exposes MuJoCo-backed sensor data through the same API.

class robotblockset.mujoco.sensors_mujoco.ft_sensor(scene: mjInterface | None = None, host: str = 'localhost', sensor_force_name: str | None = None, sensor_torque_name: str | None = None, **kwargs: Any)[source]

Bases: force_torque_sensor

MuJoCo-backed force-torque sensor interface using the socket-based server API.

Initialize a MuJoCo force-torque sensor.

Parameters:

  • scene (mjInterface, optional) – Existing MuJoCo interface instance. If None, a new connection is created.

  • host (str, optional) – Hostname of the MuJoCo simulator.

  • sensor_force_name (str, optional) – Name of the force sensor in MuJoCo. The default is "force".

  • sensor_torque_name (str, optional) – Name of the torque sensor in MuJoCo. The default is "torque".

  • **kwargs (dict) – Additional keyword arguments for the base force-torque sensor class.

__init__(scene: mjInterface | None = None, host: str = 'localhost', sensor_force_name: str | None = None, sensor_torque_name: str | None = None, **kwargs: Any) → None[source]

Initialize a MuJoCo force-torque sensor.

Parameters:

  • scene (mjInterface, optional) – Existing MuJoCo interface instance. If None, a new connection is created.

  • host (str, optional) – Hostname of the MuJoCo simulator.

  • sensor_force_name (str, optional) – Name of the force sensor in MuJoCo. The default is "force".

  • sensor_torque_name (str, optional) – Name of the torque sensor in MuJoCo. The default is "torque".

  • **kwargs (dict) – Additional keyword arguments for the base force-torque sensor class.

Init() → None[source]

Initialize MuJoCo sensor handles.

Return type:

None

GetRawFT() → ndarray[source]

Read raw force-torque data from MuJoCo sensors.

Returns:

Force-torque vector (6,) or NaNs if unavailable.

Return type:

np.ndarray

Close() → None[source]

Close the MuJoCo connection if it was created by this sensor.

Classes

ft_sensor([scene, host, sensor_force_name, ...])

MuJoCo-backed force-torque sensor interface using the socket-based server API.