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Add mjmActuator and mjmSensor.

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PiperOrigin-RevId: 605600704
Change-Id: I0a2f5eb9d894c068ca9ee08940c752066021b6ec
This commit is contained in:
Alessio Quaglino
2024-02-09 05:10:10 -08:00
committed by Copybara-Service
parent e3cbad280c
commit 6fa139a693
9 changed files with 453 additions and 273 deletions
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src/user/user_model.cc
+6 -6
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@@ -2298,7 +2298,7 @@ void mjCModel::CopyObjects(mjModel* m) {
copyvec(m->actuator_forcerange + 2*i, pac->forcerange, 2);
copyvec(m->actuator_actrange + 2*i, pac->actrange, 2);
copyvec(m->actuator_lengthrange + 2*i, pac->lengthrange, 2);
copyvec(m->actuator_user+nuser_actuator*i, pac->userdata.data(), nuser_actuator);
copyvec(m->actuator_user+nuser_actuator*i, pac->get_userdata().data(), nuser_actuator);
}
// sensors
@@ -2318,7 +2318,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->sensor_dim[i] = psen->dim;
m->sensor_cutoff[i] = (mjtNum)psen->cutoff;
m->sensor_noise[i] = (mjtNum)psen->noise;
copyvec(m->sensor_user+nuser_sensor*i, psen->userdata.data(), nuser_sensor);
copyvec(m->sensor_user+nuser_sensor*i, psen->get_userdata().data(), nuser_sensor);
// calculate address and advance
m->sensor_adr[i] = adr;
@@ -2920,13 +2920,13 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (nuser_actuator == -1) {
nuser_actuator = 0;
for (int i=0; i<actuators.size(); i++) {
nuser_actuator = mjMAX(nuser_actuator, actuators[i]->userdata.size());
nuser_actuator = mjMAX(nuser_actuator, actuators[i]->spec_userdata_.size());
}
}
if (nuser_sensor == -1) {
nuser_sensor = 0;
for (int i=0; i<sensors.size(); i++) {
nuser_sensor = mjMAX(nuser_sensor, sensors[i]->userdata.size());
nuser_sensor = mjMAX(nuser_sensor, sensors[i]->spec_userdata_.size());
}
}
@@ -3500,7 +3500,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
pa->cranklength = (double)m->actuator_cranklength[i];
if (nuser_actuator) {
copyvec(pa->userdata.data(), m->actuator_user + nuser_actuator*i, nuser_actuator);
copyvec(pa->userdata_.data(), m->actuator_user + nuser_actuator*i, nuser_actuator);
}
}
@@ -3510,7 +3510,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
sensors[i]->noise = (double)m->sensor_noise[i];
if (nuser_sensor) {
copyvec(sensors[i]->userdata.data(), m->sensor_user + nuser_sensor*i, nuser_sensor);
copyvec(sensors[i]->userdata_.data(), m->sensor_user + nuser_sensor*i, nuser_sensor);
}
}