Add sensors for potential and kinetic energy.

PiperOrigin-RevId: 716775375 Change-Id: I012c75686e76af17db0ba97e5b01bd207e1570b1
google-deepmind · Jan 17, 2025 · 07b0688 · 07b0688
1 parent b2484ee
commit 07b0688
Showing 1 changed file with 24 additions and 0 deletions.
diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
@@ -2649,6 +2649,30 @@
             <attribute name="body2" type="reference" reference_namespace="body"/>
           </attributes>
         </element>
+        <element name="e_potential" repeated="true" namespace="sensor">
+          <attributes>
+            <attribute name="name" type="identifier"/>
+            <attribute name="noise" type="float"/>
+            <attribute name="user" type="array" array_type="float"/>
+            <attribute name="cutoff" type="float"/>
+          </attributes>
+        </element>
+        <element name="e_kinetic" repeated="true" namespace="sensor">
+          <attributes>
+            <attribute name="name" type="identifier"/>
+            <attribute name="noise" type="float"/>
+            <attribute name="user" type="array" array_type="float"/>
+            <attribute name="cutoff" type="float"/>
+          </attributes>
+        </element>
+        <element name="clock" repeated="true" namespace="sensor">
+          <attributes>
+            <attribute name="name" type="identifier"/>
+            <attribute name="noise" type="float"/>
+            <attribute name="user" type="array" array_type="float"/>
+            <attribute name="cutoff" type="float"/>
+          </attributes>
+        </element>
       </children>
     </element>
     <element name="keyframe">