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MJX ray has no implementation for hfield geoms #2155

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nico-bohlinger opened this issue Oct 18, 2024 · 1 comment
Open

MJX ray has no implementation for hfield geoms #2155

nico-bohlinger opened this issue Oct 18, 2024 · 1 comment
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enhancement New feature or request good first issue Good for newcomers

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@nico-bohlinger
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The feature, motivation and pitch

The mjx.ray function is great to get depth images in MJX and it is used in the recently added rangefinder, but the handling of hfield geoms is currently not supported. To add this, one would need to port the mj_rayHfield function to mjx.

This feature would be highly appreciated to enable depth rendering in hfield environments / terrains for learning robot locomotion.

Alternatives

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@nico-bohlinger nico-bohlinger added the enhancement New feature or request label Oct 18, 2024
@btaba btaba added the good first issue Good for newcomers label Oct 24, 2024
@btaba
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btaba commented Oct 24, 2024

Hi @nico-bohlinger thanks for the heads up on the missing feature. Would you like to implement it?

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@btaba @nico-bohlinger