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Sensors of type user no longer require objtype and objname. If unspecified, the objtype will be mjOBJ_UNKNOWN. Also, `user sensors datatype default is now "real"`.

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PiperOrigin-RevId: 489652972
Change-Id: I0a8f21ee1a2f5292e6bbcfe3785536cfd1498b85
This commit is contained in:
Yuval Tassa
2022-11-19 02:04:53 -08:00
committed by Copybara-Service
parent 6f2092bef2
commit 221c63d744
8 changed files with 96 additions and 14 deletions
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src/xml/xml_native_reader.cc
+12 -5
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@@ -3147,16 +3147,23 @@ void mjXReader::Sensor(XMLElement* section) {
// user-defined sensor
else if (type=="user") {
psen->type = mjSENS_USER;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
bool objname_given = ReadAttrTxt(elem, "objname", psen->objname);
if (ReadAttrTxt(elem, "objtype", text)) {
if (!objname_given) {
throw mjXError(elem, "objtype '%s' given but objname is missing", text.c_str());
}
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
} else if (objname_given) {
throw mjXError(elem, "objname '%s' given but objtype is missing", psen->objname.c_str());
}
ReadAttrInt(elem, "dim", &psen->dim, true);
// keywords
MapValue(elem, "needstage", &n, stage_map, stage_sz, true);
psen->needstage = (mjtStage)n;
MapValue(elem, "datatype", &n, datatype_map, datatype_sz, true);
psen->datatype = (mjtDataType)n;
if (MapValue(elem, "datatype", &n, datatype_map, datatype_sz)) {
psen->datatype = (mjtDataType)n;
}
}
else if (type=="plugin") {