Incorrect Contact Sensor data returned from hx_update / hx_read_sensors

Discussion in 'HAPTIX' started by Tyler Simpson, Jun 28, 2016.

  1. Tyler Simpson

    Tyler Simpson

    The Luke hand contact sensor data returned from hx_update or hx_read_sensors don't seem to be mapped correctly according to the documentation, e.g., forces applied to the thumb are read on the index finger channel.

    I am not sure if this is a MuJoCo issue or a problem with the Luke hand model.
     
    Tyler Simpson, Jun 28, 2016
    #1
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    Are you looking at the latest documentation on the DEKA server, showing a table with 11 touch sensors? Are you taking into account the 0-based indexing? Are you using a LukeHand model that has 11 touch sensors defined at the and of the XML, namely:

    <touch site="palmFront" />
    <touch site="palmBack" />
    <touch site="palmInside" />
    <touch site="palmOutside"/>
    <touch site="thumb" />
    <touch site="thumbSide" />
    <touch site="index" />
    <touch site="indexSide" />
    <touch site="middle" />
    <touch site="ring" />
    <touch site="little" />
     
    Emo Todorov, Jun 28, 2016
    #2
  3. Tyler Simpson

    Tyler Simpson

    Aha! We were referencing an out-of-date version of the documentation. This mapping makes much more sense.
     
    Tyler Simpson, Jun 30, 2016
    #3