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Add function mjs_sensorDim to user API.

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Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
This commit is contained in:
Yuval Tassa
2025-07-29 10:19:28 -07:00
committed by Copybara-Service
parent a771fc6c09
commit 46dc67b7eb
10 changed files with 149 additions and 73 deletions
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src/user/user_api.cc
+73
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@@ -26,6 +26,7 @@
#include <vector>
#include <mujoco/mujoco.h>
#include "engine/engine_support.h"
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_cache.h"
@@ -1043,6 +1044,78 @@ void mjs_deleteUserValue(mjsElement* element, const char* key) {
// return sensor dimension
int mjs_sensorDim(const mjsSensor* sensor) {
switch (sensor->type) {
case mjSENS_TOUCH:
case mjSENS_RANGEFINDER:
case mjSENS_JOINTPOS:
case mjSENS_JOINTVEL:
case mjSENS_TENDONPOS:
case mjSENS_TENDONVEL:
case mjSENS_ACTUATORPOS:
case mjSENS_ACTUATORVEL:
case mjSENS_ACTUATORFRC:
case mjSENS_JOINTACTFRC:
case mjSENS_TENDONACTFRC:
case mjSENS_JOINTLIMITPOS:
case mjSENS_JOINTLIMITVEL:
case mjSENS_JOINTLIMITFRC:
case mjSENS_TENDONLIMITPOS:
case mjSENS_TENDONLIMITVEL:
case mjSENS_TENDONLIMITFRC:
case mjSENS_GEOMDIST:
case mjSENS_INSIDESITE:
case mjSENS_E_POTENTIAL:
case mjSENS_E_KINETIC:
case mjSENS_CLOCK:
return 1;
case mjSENS_CAMPROJECTION:
return 2;
case mjSENS_ACCELEROMETER:
case mjSENS_VELOCIMETER:
case mjSENS_GYRO:
case mjSENS_FORCE:
case mjSENS_TORQUE:
case mjSENS_MAGNETOMETER:
case mjSENS_BALLANGVEL:
case mjSENS_FRAMEPOS:
case mjSENS_FRAMEXAXIS:
case mjSENS_FRAMEYAXIS:
case mjSENS_FRAMEZAXIS:
case mjSENS_FRAMELINVEL:
case mjSENS_FRAMEANGVEL:
case mjSENS_FRAMELINACC:
case mjSENS_FRAMEANGACC:
case mjSENS_SUBTREECOM:
case mjSENS_SUBTREELINVEL:
case mjSENS_SUBTREEANGMOM:
case mjSENS_GEOMNORMAL:
return 3;
case mjSENS_GEOMFROMTO:
return 6;
case mjSENS_BALLQUAT:
case mjSENS_FRAMEQUAT:
return 4;
case mjSENS_CONTACT:
return sensor->intprm[2] * mju_condataSize(sensor->intprm[0]);
case mjSENS_USER:
return sensor->dim;
case mjSENS_PLUGIN:
return 0; // to be filled in by plugin
}
return -1;
}
// get id
int mjs_getId(mjsElement* element) {
if (!element) {