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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/xml/xml_native_reader.cc
+7 -8
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@@ -4216,20 +4216,19 @@ void mjXReader::Sensor(XMLElement* section) {
}
sensor->intprm[0] = dataspec;
// number of contacts, sensor dim
sensor->dim = 1;
ReadAttrInt(elem, "num", &sensor->dim);
if (sensor->dim <= 0) {
throw mjXError(elem, "'num' must be positive in sensor");
}
sensor->dim *= mju_condataSize(dataspec);
// reduction type (intprm[1])
sensor->intprm[1] = 0;
if (MapValue(elem, "reduce", &n, reduce_map, reduce_sz)) {
sensor->intprm[1] = n;
}
// number of contacts (intprm[2])
sensor->intprm[2] = 1;
ReadAttrInt(elem, "num", &sensor->intprm[2]);
if (sensor->intprm[2] <= 0) {
throw mjXError(elem, "'num' must be positive in sensor");
}
// sensor type
sensor->type = mjSENS_CONTACT;
}