sensors_pymujoco

PyMuJoCo Sensors Module.

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

class robotblockset.mujoco.sensors_pymujoco.ft_sensor_pymujoco(sensor_name: str = 'FTSensor', scene: mujoco_scene | None = None, sensor_force_name: str | None = None, sensor_torque_name: str | None = None, **kwargs: Any)[source]

Bases: force_torque_sensor

PyMuJoCo-backed force-torque sensor interface operating on a mujoco_scene.

Initialize a PyMuJoCo force-torque sensor.

Parameters:

  • sensor_name (str, optional) – Sensor name prefix used for this instance.

  • scene (mujoco_scene, optional) – MuJoCo scene instance to read sensors from. Must be provided.

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

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

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

__init__(sensor_name: str = 'FTSensor', scene: mujoco_scene | None = None, sensor_force_name: str | None = None, sensor_torque_name: str | None = None, **kwargs: Any) → None[source]

Initialize a PyMuJoCo force-torque sensor.

Parameters:

  • sensor_name (str, optional) – Sensor name prefix used for this instance.

  • scene (mujoco_scene, optional) – MuJoCo scene instance to read sensors from. Must be provided.

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

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

  • **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 PyMuJoCo sensors.

Returns:

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

Return type:

np.ndarray

Classes

ft_sensor_pymujoco([sensor_name, scene, ...])

PyMuJoCo-backed force-torque sensor interface operating on a mujoco_scene.