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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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test/user/user_objects_test.cc
+23
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@@ -202,6 +202,29 @@ TEST_F(RelativeFrameSensorParsingTest, BadRefType) {
EXPECT_THAT(error.data(), HasSubstr("reference frame object must be"));
}
// ------------- sensor compilation --------------------------------------------
using SensorTest = MujocoTest;
TEST_F(SensorTest, OjbtypeParsedButNotRequired) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="3" needstage="vel" datatype="axis"/>
<user dim="2" needstage="pos" objtype="body" objname="world"/>
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->sensor_datatype[0], mjDATATYPE_AXIS);
EXPECT_EQ(model->sensor_objtype[0], mjOBJ_UNKNOWN);
EXPECT_EQ(model->sensor_dim[0], 3);
EXPECT_EQ(model->sensor_datatype[1], mjDATATYPE_REAL);
EXPECT_EQ(model->sensor_objtype[1], mjOBJ_BODY);
EXPECT_EQ(model->sensor_objid[1], 0);
mj_deleteModel(model);
}
// ------------- test capsule inertias -----------------------------------------
static const char* const kCapsuleInertiaPath =