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Use mj_id2name in viewer code where appropriate.

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PiperOrigin-RevId: 948945088
Change-Id: I5635c71fd285b128618592699ca64ce8c0f35e31
This commit is contained in:
Yuval Tassa
2026-07-16 06:50:38 -07:00
committed by Copybara-Service
parent a77dff84a4
commit 0ce5e98916
4 changed files with 21 additions and 18 deletions
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simulate/simulate.cc
+11 -7
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@@ -596,9 +596,9 @@ void DetectImageSensors(mj::Simulate* sim, const mjModel* m) {
// Check if this is an image sensor: width*height*3 == dim
if (width > 0 && height > 0 && width * height * 3 == dim) {
const char* name = m->names + m->name_sensoradr[i];
const char* name = mj_id2name(m, mjOBJ_SENSOR, i);
sim->image_sensor_indices.push_back(i);
sim->image_sensor_names.push_back(name);
sim->image_sensor_names.push_back(name ? name : "");
sim->image_sensor_count++;
}
}
@@ -932,8 +932,9 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m) {
for (int i=0; i<mjMIN(m->ncam, mjMAXUIMULTI-2); i++) {
// prepare name
char camname[mjMAXUINAME] = "\n";
if (m->names[m->name_camadr[i]]) {
mju::strcat_arr(camname, m->names+m->name_camadr[i]);
const char* name = mj_id2name(m, mjOBJ_CAMERA, i);
if (name) {
mju::strcat_arr(camname, name);
} else {
mju::sprintf_arr(camname, "\nCamera %d", i);
}
@@ -2529,7 +2530,8 @@ void Simulate::LoadOnRenderThread() {
jnt_names_.clear();
jnt_names_.reserve(this->m_->njnt);
for (int i = 0; i < this->m_->njnt; ++i) {
jnt_names_.emplace_back(this->m_->names + this->m_->name_jntadr[i]);
const char* name = mj_id2name(this->m_, mjOBJ_JOINT, i);
jnt_names_.emplace_back(name ? name : "");
}
actuator_group_.resize(this->m_->nu);
@@ -2550,13 +2552,15 @@ void Simulate::LoadOnRenderThread() {
actuator_names_.clear();
actuator_names_.reserve(this->m_->nu);
for (int i = 0; i < this->m_->nu; ++i) {
actuator_names_.emplace_back(this->m_->names + this->m_->name_actuatoradr[i]);
const char* name = mj_id2name(this->m_, mjOBJ_ACTUATOR, i);
actuator_names_.emplace_back(name ? name : "");
}
equality_names_.clear();
equality_names_.reserve(this->m_->neq);
for (int i = 0; i < this->m_->neq; ++i) {
equality_names_.emplace_back(this->m_->names + this->m_->name_eqadr[i]);
const char* name = mj_id2name(this->m_, mjOBJ_EQUALITY, i);
equality_names_.emplace_back(name ? name : "");
}
qpos_.resize(this->m_->nq);