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Add sleep related data structures

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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
This commit is contained in:
Yuval Tassa
2025-11-06 12:09:59 -08:00
committed by Copybara-Service
parent 3080e3424f
commit 252a0d73df
37 changed files with 1907 additions and 186 deletions
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src/xml/xml_base.h
+2
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@@ -26,6 +26,7 @@
// keyword maps (defined in implementation files)
extern const int joint_sz;
extern const int bodysleep_sz;
extern const int camlight_sz;
extern const int lighttype_sz;
extern const int integrator_sz;
@@ -50,6 +51,7 @@ extern const mjMap bool_map[];
extern const mjMap fluid_map[];
extern const mjMap TFAuto_map[];
extern const mjMap joint_map[];
extern const mjMap bodysleep_map[];
extern const mjMap geom_map[];
extern const mjMap camlight_map[];
extern const mjMap lighttype_map[];
src/xml/xml_native_reader.cc
+23 -9
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@@ -110,18 +110,18 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"inttotal", "interval", "tolrange"},
{">"},
{"option", "*", "26",
{"option", "*", "27",
"timestep", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
"ccd_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
"ccd_tolerance", "sleep_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
"o_margin", "o_solref", "o_solimp", "o_friction",
"integrator", "cone", "jacobian",
"solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations",
"sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
{"<"},
{"flag", "?", "24", "constraint", "equality", "frictionloss", "limit", "contact",
"spring", "damper", "gravity", "clampctrl", "warmstart",
"filterparent", "actuation", "refsafe", "sensor", "midphase", "eulerdamp", "autoreset",
"nativeccd", "island", "override", "energy", "fwdinv", "invdiscrete", "multiccd"},
{"flag", "?", "25", "constraint", "equality", "frictionloss", "limit", "contact",
"spring", "damper", "gravity", "clampctrl", "warmstart", "filterparent", "actuation",
"refsafe", "sensor", "midphase", "eulerdamp", "autoreset", "nativeccd", "island",
"override", "energy", "fwdinv", "invdiscrete", "multiccd", "sleep"},
{">"},
{"size", "*", "14", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey",
@@ -257,8 +257,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"model", "*", "3", "name", "file", "content_type"},
{">"},
{"body", "R", "11", "name", "childclass", "pos", "quat", "mocap",
"axisangle", "xyaxes", "zaxis", "euler", "gravcomp", "user"},
{"body", "R", "12", "name", "childclass", "pos", "quat", "mocap",
"axisangle", "xyaxes", "zaxis", "euler", "gravcomp", "sleep", "user"},
{"<"},
{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
@@ -554,6 +554,15 @@ const mjMap TFAuto_map[3] = {
};
// body sleep type
const int bodysleep_sz = 4;
const mjMap bodysleep_map[bodysleep_sz] = {
{"auto", mjSLEEP_AUTO},
{"never", mjSLEEP_NEVER},
{"allowed", mjSLEEP_ALLOWED},
{"init", mjSLEEP_INIT}
};
// joint type
const int joint_sz = 4;
const mjMap joint_map[joint_sz] = {
@@ -1136,6 +1145,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
ReadAttr(section, "ls_tolerance", 1, &opt->ls_tolerance, text);
ReadAttr(section, "noslip_tolerance", 1, &opt->noslip_tolerance, text);
ReadAttr(section, "ccd_tolerance", 1, &opt->ccd_tolerance, text);
ReadAttr(section, "sleep_tolerance", 1, &opt->sleep_tolerance, text);
ReadAttr(section, "gravity", 3, opt->gravity, text);
ReadAttr(section, "wind", 3, opt->wind, text);
ReadAttr(section, "magnetic", 3, opt->magnetic, text);
@@ -1213,6 +1223,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
READENBL("fwdinv", mjENBL_FWDINV)
READENBL("invdiscrete", mjENBL_INVDISCRETE)
READENBL("multiccd", mjENBL_MULTICCD)
READENBL("sleep", mjENBL_SLEEP)
#undef READENBL
}
}
@@ -3709,8 +3720,11 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
}
ReadAlternative(elem, child->alt);
// read gravcomp
// gravcomp, sleep policy
ReadAttr(elem, "gravcomp", 1, &child->gravcomp, text);
if (MapValue(elem, "sleep", &n, bodysleep_map, bodysleep_sz)) {
child->sleep = (mjtSleepPolicy) n;
}
// read userdata
std::vector<double> userdata;
src/xml/xml_native_writer.cc
+10
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@@ -995,6 +995,7 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttr(section, "ls_tolerance", 1, &model->option.ls_tolerance, &opt.ls_tolerance);
WriteAttr(section, "noslip_tolerance", 1, &model->option.noslip_tolerance, &opt.noslip_tolerance);
WriteAttr(section, "ccd_tolerance", 1, &model->option.ccd_tolerance, &opt.ccd_tolerance);
WriteAttr(section, "sleep_tolerance", 1, &model->option.sleep_tolerance, &opt.sleep_tolerance);
WriteAttr(section, "gravity", 3, model->option.gravity, opt.gravity);
WriteAttr(section, "wind", 3, model->option.wind, opt.wind);
WriteAttr(section, "magnetic", 3, model->option.magnetic, opt.magnetic);
@@ -1067,6 +1068,7 @@ void mjXWriter::Option(XMLElement* root) {
WRITEENBL("fwdinv", mjENBL_FWDINV)
WRITEENBL("invdiscrete", mjENBL_INVDISCRETE)
WRITEENBL("multiccd", mjENBL_MULTICCD)
WRITEENBL("sleep", mjENBL_SLEEP)
#undef WRITEENBL
}
@@ -1644,6 +1646,14 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_vi
if (body->gravcomp) {
WriteAttr(elem, "gravcomp", 1, &body->gravcomp);
}
// sleep policy
if (body->sleep != mjSLEEP_AUTO &&
body->sleep != mjSLEEP_AUTO_NEVER &&
body->sleep != mjSLEEP_AUTO_ALLOWED) {
WriteAttrKey(elem, "sleep", bodysleep_map, bodysleep_sz, body->sleep);
}
// userdata
WriteVector(elem, "user", body->get_userdata());