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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_writer.cc
+1 -1
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@@ -1768,7 +1768,7 @@ void mjXWriter::Sensor(XMLElement* root) {
// user-defined sensor
case mjSENS_USER:
elem = InsertEnd(section, "user");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
if (mju_type2Str(psen->objtype)) WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrInt(elem, "dim", psen->dim);
WriteAttrKey(elem, "needstage", stage_map, stage_sz, (int)psen->needstage);