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Add sensors for potential and kinetic energy.

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PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
This commit is contained in:
Yuval Tassa
2025-01-17 13:09:29 -08:00
committed by Copybara-Service
parent 688d367733
commit 240a7afdee
15 changed files with 264 additions and 33 deletions
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src/xml/xml_native_reader.cc
+9 -1
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@@ -485,6 +485,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"distance", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"normal", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"fromto", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"e_potential", "*", "4", "name", "cutoff", "noise", "user"},
{"e_kinetic", "*", "4", "name", "cutoff", "noise", "user"},
{"clock", "*", "4", "name", "cutoff", "noise", "user"},
{"user", "*", "9", "name", "objtype", "objname", "datatype", "needstage",
"dim", "cutoff", "noise", "user"},
@@ -4172,7 +4174,13 @@ void mjXReader::Sensor(XMLElement* section) {
}
// global sensors
else if (type=="clock") {
else if (type=="e_potential") {
sensor->type = mjSENS_E_POTENTIAL;
sensor->objtype = mjOBJ_UNKNOWN;
} else if (type=="e_kinetic") {
sensor->type = mjSENS_E_KINETIC;
sensor->objtype = mjOBJ_UNKNOWN;
} else if (type=="clock") {
sensor->type = mjSENS_CLOCK;
sensor->objtype = mjOBJ_UNKNOWN;
}