chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add actuator and sensor delays. Fixes #1004

Browse Source 
PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
This commit is contained in:
Yuval Tassa
2026-02-06 08:46:45 -08:00
committed by Copybara-Service
parent 84fa527723
commit 6419534bad
48 changed files with 6282 additions and 219 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_writer.cc
+8
View File
@@ -825,6 +825,9 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* actuator, mjCDe
// defaults and regular
WriteAttrInt(elem, "group", actuator->group, def->Actuator().group);
WriteAttrInt(elem, "nsample", actuator->nsample, def->Actuator().nsample);
WriteAttrKey(elem, "interp", interp_map, interp_sz, actuator->interp, def->Actuator().interp);
WriteAttr(elem, "delay", 1, &actuator->delay, &def->Actuator().delay);
WriteAttrKey(elem, "ctrllimited", TFAuto_map, 3, actuator->ctrllimited, def->Actuator().ctrllimited);
WriteAttr(elem, "ctrlrange", 2, actuator->ctrlrange, def->Actuator().ctrlrange);
WriteAttrKey(elem, "forcelimited", TFAuto_map, 3, actuator->forcelimited, def->Actuator().forcelimited);
@@ -2338,6 +2341,11 @@ void mjXWriter::Sensor(XMLElement* root) {
if (sensor->type != mjSENS_PLUGIN) {
WriteAttr(elem, "noise", 1, &sensor->noise, &zero);
}
WriteAttrInt(elem, "nsample", sensor->nsample, 0);
WriteAttrKey(elem, "interp", interp_map, interp_sz, sensor->interp, 0);
WriteAttr(elem, "delay", 1, &sensor->delay, &zero);
double zeros[2] = {0, 0};
WriteAttr(elem, "interval", 2, sensor->interval, zeros);
WriteVector(elem, "user", sensor->get_userdata());
}