Sensor Plugin Integration in MJX

[finnBsch]

Intro

Hi!

I am a PhD student KTH Royal Institue of technology, I use MuJoCo for RL teaching.

My setup

Mujoco 3.3.5

My question

For our course, we are looking to add a height_grid sensor (a sensor that on a fixed grid surrounding the robot measures the height of the environment relative to the robot's height). I managed to get a basic implementation to work using a sensor plugin. The course makes use of mujoco playground, and thus requires MJX environments. I don't fully understand the recommended interplay between mujoco sensor plugins, and MJX. If I am not mistaken, MJX will only accept the sensors processed in mjx/_src/sensor.py, so the sensor plugin will not be used, correct?

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.