Add a disable flag for sensors.

PiperOrigin-RevId: 469473066
Change-Id: I296ed790c6261c4fb15b349540edcb77e53e0567

src/engine/engine_sensor.c

@@ -193,6 +193,11 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
   int ne = d->ne, nf = d->nf, nefc = d->nefc;
   mjtNum rvec[3], *xpos, *xmat, *xpos_ref, *xmat_ref;
 
+  // disabled sensors: return
+  if (mjDISABLED(mjDSBL_SENSOR)) {
+    return;
+  }
+
   // process sensors matching stage
   for (int i=0; i<m->nsensor; i++) {
     if (m->sensor_needstage[i]==mjSTAGE_POS) {
@@ -349,6 +354,11 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
   int ne = d->ne, nf = d->nf, nefc = d->nefc;
   mjtNum xvel[6];
 
+  // disabled sensors: return
+  if (mjDISABLED(mjDSBL_SENSOR)) {
+    return;
+  }
+
   // process sensors matching stage
   int subtreeVel = 0;
   for (int i=0; i<m->nsensor; i++) {
@@ -502,6 +512,11 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
   mjtNum tmp[6], conforce[6], conray[3];
   mjContact* con;
 
+  // disabled sensors: return
+  if (mjDISABLED(mjDSBL_SENSOR)) {
+    return;
+  }
+
   // process sensors matching stage
   int rnePost = 0;
   for (int i=0; i<m->nsensor; i++) {

src/engine/engine_support.c

@@ -51,7 +51,8 @@ const char* mjDISABLESTRING[mjNDISABLE] = {
   "Warmstart",
   "Filterparent",
   "Actuation",
-  "Refsafe"
+  "Refsafe",
+  "Sensor"
 };
 
 

src/xml/xml_native_reader.cc

@@ -63,9 +63,9 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
         "integrator", "collision", "cone", "jacobian",
         "solver", "iterations", "noslip_iterations", "mpr_iterations"},
     {"<"},
-        {"flag", "?", "17", "constraint", "equality", "frictionloss", "limit", "contact",
+        {"flag", "?", "18", "constraint", "equality", "frictionloss", "limit", "contact",
             "passive", "gravity", "clampctrl", "warmstart",
-            "filterparent", "actuation", "refsafe",
+            "filterparent", "actuation", "refsafe", "sensor",
             "override", "energy", "fwdinv", "sensornoise", "multiccd"},
     {">"},
 
@@ -887,6 +887,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
     READDSBL("filterparent", mjDSBL_FILTERPARENT)
     READDSBL("actuation",    mjDSBL_ACTUATION)
     READDSBL("refsafe",      mjDSBL_REFSAFE)
+    READDSBL("sensor",       mjDSBL_SENSOR)
 #undef READDSBL
 
 #define READENBL(NAME, MASK) \

src/xml/xml_native_writer.cc

@@ -752,6 +752,7 @@ void mjXWriter::Option(XMLElement* root) {
     WRITEDSBL("filterparent",   mjDSBL_FILTERPARENT)
     WRITEDSBL("actuation",      mjDSBL_ACTUATION)
     WRITEDSBL("refsafe",        mjDSBL_REFSAFE)
+    WRITEDSBL("sensor",         mjDSBL_SENSOR)
 #undef WRITEDSBL
 
 #define WRITEENBL(NAME, MASK) \