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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/xml/xml_native_reader.cc
+112 -86
View File
@@ -1853,12 +1853,16 @@ void mjXReader::OneTendon(XMLElement* elem, mjCTendon* pten) {
// actuator element parser
void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
string text, type;
void mjXReader::OneActuator(XMLElement* elem, mjmActuator* pact) {
string text, type, name, classname, target, slidersite, refsite;
// common attributes
ReadAttrTxt(elem, "name", pact->name);
ReadAttrTxt(elem, "class", pact->classname);
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pact->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pact->classname, classname.c_str());
}
ReadAttrInt(elem, "group", &pact->group);
MapValue(elem, "ctrllimited", &pact->ctrllimited, TFAuto_map, 3);
MapValue(elem, "forcelimited", &pact->forcelimited, TFAuto_map, 3);
@@ -1871,27 +1875,33 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
// transmission target and type
int cnt = 0;
if (ReadAttrTxt(elem, "joint", pact->target)) {
if (ReadAttrTxt(elem, "joint", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_JOINT;
cnt++;
}
if (ReadAttrTxt(elem, "jointinparent", pact->target)) {
if (ReadAttrTxt(elem, "jointinparent", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_JOINTINPARENT;
cnt++;
}
if (ReadAttrTxt(elem, "tendon", pact->target)) {
if (ReadAttrTxt(elem, "tendon", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_TENDON;
cnt++;
}
if (ReadAttrTxt(elem, "cranksite", pact->target)) {
if (ReadAttrTxt(elem, "cranksite", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_SLIDERCRANK;
cnt++;
}
if (ReadAttrTxt(elem, "site", pact->target)) {
if (ReadAttrTxt(elem, "site", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_SITE;
cnt++;
}
if (ReadAttrTxt(elem, "body", pact->target)) {
if (ReadAttrTxt(elem, "body", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_BODY;
cnt++;
}
@@ -1902,13 +1912,19 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
// slidercrank-specific parameters
int r1 = ReadAttr(elem, "cranklength", 1, &pact->cranklength, text);
int r2 = ReadAttrTxt(elem, "slidersite", pact->slidersite);
int r2 = ReadAttrTxt(elem, "slidersite", slidersite);
if (r2) {
mjm_setString(pact->slidersite, slidersite.c_str());
}
if ((r1 || r2) && pact->trntype!=mjTRN_SLIDERCRANK && pact->trntype!=mjTRN_UNDEFINED) {
throw mjXError(elem, "cranklength and slidersite can only be used in slidercrank transmission");
}
// site-specific parameters (refsite)
int r3 = ReadAttrTxt(elem, "refsite", pact->refsite);
int r3 = ReadAttrTxt(elem, "refsite", refsite);
if (r3) {
mjm_setString(pact->refsite, refsite.c_str());
}
if (r3 && pact->trntype!=mjTRN_SITE && pact->trntype!=mjTRN_UNDEFINED) {
throw mjXError(elem, "refsite can only be used with site transmission");
}
@@ -2103,9 +2119,14 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
}
// read userdata
ReadVector(elem, "user", pact->userdata, text);
std::vector<double> userdata;
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(pact->userdata, userdata.data(), userdata.size());
}
GetXMLPos(elem, pact);
// write info
mjm_setString(pact->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -2571,7 +2592,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
name=="cylinder" ||
name=="muscle" ||
name=="adhesion") {
OneActuator(elem, &def->actuator);
OneActuator(elem, &def->actuator.spec);
}
// copy into private attributes
@@ -2580,6 +2601,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
mjm_finalize(def->site.spec.element);
mjm_finalize(def->camera.spec.element);
mjm_finalize(def->light.spec.element);
mjm_finalize(def->actuator.spec.element);
// advance
elem = elem->NextSiblingElement();
@@ -3423,7 +3445,7 @@ void mjXReader::Actuator(XMLElement* section) {
}
// create actuator and parse
mjCActuator* pact = model->AddActuator(def);
mjmActuator* pact = mjm_addActuator(model, def);
OneActuator(elem, pact);
// advance to next element
@@ -3436,133 +3458,136 @@ void mjXReader::Actuator(XMLElement* section) {
// sensor section parser
void mjXReader::Sensor(XMLElement* section) {
int n;
string text;
XMLElement* elem = section->FirstChildElement();
while (elem) {
// create sensor, get string type
mjCSensor* psen = model->AddSensor();
mjmSensor* psen = mjm_addSensor(model);
string type = elem->Value();
string plugin_name = "";
string instance_name = "";
string text, name, objname, refname;
std::vector<double> userdata;
// read name, noise, userdata
ReadAttrTxt(elem, "name", psen->name);
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(psen->name, name.c_str());
}
ReadAttr(elem, "cutoff", 1, &psen->cutoff, text);
ReadAttr(elem, "noise", 1, &psen->noise, text);
ReadVector(elem, "user", psen->userdata, text);
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(psen->userdata, userdata.data(), userdata.size());
}
// common robotic sensors, attached to a site
if (type=="touch") {
psen->type = mjSENS_TOUCH;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="accelerometer") {
psen->type = mjSENS_ACCELEROMETER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="velocimeter") {
psen->type = mjSENS_VELOCIMETER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="gyro") {
psen->type = mjSENS_GYRO;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="force") {
psen->type = mjSENS_FORCE;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="torque") {
psen->type = mjSENS_TORQUE;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="magnetometer") {
psen->type = mjSENS_MAGNETOMETER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="camprojection") {
psen->type = mjSENS_CAMPROJECTION;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "camera", psen->refname, true);
ReadAttrTxt(elem, "site", objname, true);
ReadAttrTxt(elem, "camera", refname, true);
psen->reftype = mjOBJ_CAMERA;
} else if (type=="rangefinder") {
psen->type = mjSENS_RANGEFINDER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "site", objname, true);
}
// sensors related to scalar joints, tendons, actuators
else if (type=="jointpos") {
psen->type = mjSENS_JOINTPOS;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="jointvel") {
psen->type = mjSENS_JOINTVEL;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="tendonpos") {
psen->type = mjSENS_TENDONPOS;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", psen->objname, true);
ReadAttrTxt(elem, "tendon", objname, true);
} else if (type=="tendonvel") {
psen->type = mjSENS_TENDONVEL;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", psen->objname, true);
ReadAttrTxt(elem, "tendon", objname, true);
} else if (type=="actuatorpos") {
psen->type = mjSENS_ACTUATORPOS;
psen->objtype = mjOBJ_ACTUATOR;
ReadAttrTxt(elem, "actuator", psen->objname, true);
ReadAttrTxt(elem, "actuator", objname, true);
} else if (type=="actuatorvel") {
psen->type = mjSENS_ACTUATORVEL;
psen->objtype = mjOBJ_ACTUATOR;
ReadAttrTxt(elem, "actuator", psen->objname, true);
ReadAttrTxt(elem, "actuator", objname, true);
} else if (type=="actuatorfrc") {
psen->type = mjSENS_ACTUATORFRC;
psen->objtype = mjOBJ_ACTUATOR;
ReadAttrTxt(elem, "actuator", psen->objname, true);
ReadAttrTxt(elem, "actuator", objname, true);
} else if (type=="jointactuatorfrc") {
psen->type = mjSENS_JOINTACTFRC;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
ReadAttrTxt(elem, "joint", objname, true);
}
// sensors related to ball joints
else if (type=="ballquat") {
psen->type = mjSENS_BALLQUAT;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="ballangvel") {
psen->type = mjSENS_BALLANGVEL;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
ReadAttrTxt(elem, "joint", objname, true);
}
// joint and tendon limit sensors
else if (type=="jointlimitpos") {
psen->type = mjSENS_JOINTLIMITPOS;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="jointlimitvel") {
psen->type = mjSENS_JOINTLIMITVEL;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="jointlimitfrc") {
psen->type = mjSENS_JOINTLIMITFRC;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", psen->objname, true);
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="tendonlimitpos") {
psen->type = mjSENS_TENDONLIMITPOS;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", psen->objname, true);
ReadAttrTxt(elem, "tendon", objname, true);
} else if (type=="tendonlimitvel") {
psen->type = mjSENS_TENDONLIMITVEL;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", psen->objname, true);
ReadAttrTxt(elem, "tendon", objname, true);
} else if (type=="tendonlimitfrc") {
psen->type = mjSENS_TENDONLIMITFRC;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", psen->objname, true);
ReadAttrTxt(elem, "tendon", objname, true);
}
// sensors attached to an object with spatial frame: (x)body, geom, site, camera
@@ -3570,10 +3595,10 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_FRAMEPOS;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", psen->refname, true);
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
@@ -3581,10 +3606,10 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_FRAMEQUAT;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", psen->refname, true);
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
@@ -3592,10 +3617,10 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_FRAMEXAXIS;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", psen->refname, true);
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
@@ -3603,10 +3628,10 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_FRAMEYAXIS;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", psen->refname, true);
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
@@ -3614,10 +3639,10 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_FRAMEZAXIS;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", psen->refname, true);
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
@@ -3625,10 +3650,10 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_FRAMELINVEL;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", psen->refname, true);
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
@@ -3636,10 +3661,10 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_FRAMEANGVEL;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", psen->refname, true);
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
@@ -3647,27 +3672,27 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_FRAMELINACC;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
} else if (type=="frameangacc") {
psen->type = mjSENS_FRAMEANGACC;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname, true);
ReadAttrTxt(elem, "objname", objname, true);
}
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
else if (type=="subtreecom") {
psen->type = mjSENS_SUBTREECOM;
psen->objtype = mjOBJ_BODY;
ReadAttrTxt(elem, "body", psen->objname, true);
ReadAttrTxt(elem, "body", objname, true);
} else if (type=="subtreelinvel") {
psen->type = mjSENS_SUBTREELINVEL;
psen->objtype = mjOBJ_BODY;
ReadAttrTxt(elem, "body", psen->objname, true);
ReadAttrTxt(elem, "body", objname, true);
} else if (type=="subtreeangmom") {
psen->type = mjSENS_SUBTREEANGMOM;
psen->objtype = mjOBJ_BODY;
ReadAttrTxt(elem, "body", psen->objname, true);
ReadAttrTxt(elem, "body", objname, true);
}
// global sensors
@@ -3679,14 +3704,14 @@ void mjXReader::Sensor(XMLElement* section) {
// user-defined sensor
else if (type=="user") {
psen->type = mjSENS_USER;
bool objname_given = ReadAttrTxt(elem, "objname", psen->objname);
bool objname_given = ReadAttrTxt(elem, "objname", objname);
if (ReadAttrTxt(elem, "objtype", text)) {
if (!objname_given) {
throw mjXError(elem, "objtype '%s' given but objname is missing", text.c_str());
}
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
} else if (objname_given) {
throw mjXError(elem, "objname '%s' given but objtype is missing", psen->objname.c_str());
throw mjXError(elem, "objname '%s' given but objtype is missing", objname.c_str());
}
ReadAttrInt(elem, "dim", &psen->dim, true);
@@ -3701,38 +3726,39 @@ void mjXReader::Sensor(XMLElement* section) {
else if (type=="plugin") {
psen->type = mjSENS_PLUGIN;
ReadAttrTxt(elem, "plugin", plugin_name);
ReadAttrTxt(elem, "instance", instance_name);
mjm_setString(psen->plugin.name, plugin_name.c_str());
mjm_setString(psen->plugin.instance_name, instance_name.c_str());
if (instance_name.empty()) {
psen->plugin.instance = mjm_addPlugin(model);
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, (mjCPlugin*)psen->plugin.instance);
OnePlugin(elem, &psen->plugin);
ReadAttrTxt(elem, "objtype", text);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", psen->objname);
if (psen->objtype != mjOBJ_UNKNOWN && psen->objname.empty()) {
ReadAttrTxt(elem, "objname", objname);
if (psen->objtype != mjOBJ_UNKNOWN && objname.empty()) {
throw mjXError(elem, "objtype is specified but objname is not");
}
if (psen->objtype == mjOBJ_UNKNOWN && !psen->objname.empty()) {
if (psen->objtype == mjOBJ_UNKNOWN && !objname.empty()) {
throw mjXError(elem, "objname is specified but objtype is not");
}
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
}
ReadAttrTxt(elem, "refname", psen->refname);
if (psen->reftype != mjOBJ_UNKNOWN && psen->refname.empty()) {
ReadAttrTxt(elem, "refname", refname);
if (psen->reftype != mjOBJ_UNKNOWN && refname.empty()) {
throw mjXError(elem, "reftype is specified but refname is not");
}
if (psen->reftype == mjOBJ_UNKNOWN && !psen->refname.empty()) {
if (psen->reftype == mjOBJ_UNKNOWN && !refname.empty()) {
throw mjXError(elem, "refname is specified but reftype is not");
}
}
GetXMLPos(elem, psen);
if (!objname.empty()) {
mjm_setString(psen->objname, objname.c_str());
}
if (!refname.empty()) {
mjm_setString(psen->refname, refname.c_str());
}
// write info
mjm_setString(psen->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
// advance to next element
elem = elem->NextSiblingElement();
src/xml/xml_native_reader.h
+1 -1
View File
@@ -65,7 +65,7 @@ class mjXReader : public mjXBase {
void OnePair(tinyxml2::XMLElement* elem, mjCPair* ppair);
void OneEquality(tinyxml2::XMLElement* elem, mjCEquality* pequality);
void OneTendon(tinyxml2::XMLElement* elem, mjCTendon* ptendon);
void OneActuator(tinyxml2::XMLElement* elem, mjCActuator* pactuator);
void OneActuator(tinyxml2::XMLElement* elem, mjmActuator* pactuator);
void OneComposite(tinyxml2::XMLElement* elem, mjmBody* pbody, mjCDef* def);
void OneFlexcomp(tinyxml2::XMLElement* elem, mjmBody* pbody);
void OnePlugin(tinyxml2::XMLElement* elem, mjmPlugin* plugin);
src/xml/xml_native_writer.cc
+53 -72
View File
@@ -664,29 +664,29 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// transmission target
switch (pact->trntype) {
case mjTRN_JOINT:
WriteAttrTxt(elem, "joint", pact->target);
WriteAttrTxt(elem, "joint", pact->get_target());
break;
case mjTRN_JOINTINPARENT:
WriteAttrTxt(elem, "jointinparent", pact->target);
WriteAttrTxt(elem, "jointinparent", pact->get_target());
break;
case mjTRN_TENDON:
WriteAttrTxt(elem, "tendon", pact->target);
WriteAttrTxt(elem, "tendon", pact->get_target());
break;
case mjTRN_SLIDERCRANK:
WriteAttrTxt(elem, "cranksite", pact->target);
WriteAttrTxt(elem, "slidersite", pact->slidersite);
WriteAttrTxt(elem, "cranksite", pact->get_target());
WriteAttrTxt(elem, "slidersite", pact->get_slidersite());
break;
case mjTRN_SITE:
WriteAttrTxt(elem, "site", pact->target);
WriteAttrTxt(elem, "refsite", pact->refsite);
WriteAttrTxt(elem, "site", pact->get_target());
WriteAttrTxt(elem, "refsite", pact->get_refsite());
break;
case mjTRN_BODY:
WriteAttrTxt(elem, "body", pact->target);
WriteAttrTxt(elem, "body", pact->get_target());
break;
default: // SHOULD NOT OCCUR
@@ -747,9 +747,9 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// userdata
if (writingdefaults) {
WriteVector(elem, "user", pact->userdata);
WriteVector(elem, "user", pact->get_userdata());
} else {
WriteVector(elem, "user", pact->userdata, def->actuator.userdata);
WriteVector(elem, "user", pact->get_userdata(), def->actuator.get_userdata());
}
}
@@ -1748,171 +1748,171 @@ void mjXWriter::Sensor(XMLElement* root) {
// common robotic sensors, attached to a site
case mjSENS_TOUCH:
elem = InsertEnd(section, "touch");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "site", psen->get_objname());
break;
case mjSENS_ACCELEROMETER:
elem = InsertEnd(section, "accelerometer");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "site", psen->get_objname());
break;
case mjSENS_VELOCIMETER:
elem = InsertEnd(section, "velocimeter");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "site", psen->get_objname());
break;
case mjSENS_GYRO:
elem = InsertEnd(section, "gyro");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "site", psen->get_objname());
break;
case mjSENS_FORCE:
elem = InsertEnd(section, "force");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "site", psen->get_objname());
break;
case mjSENS_TORQUE:
elem = InsertEnd(section, "torque");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "site", psen->get_objname());
break;
case mjSENS_MAGNETOMETER:
elem = InsertEnd(section, "magnetometer");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "site", psen->get_objname());
break;
case mjSENS_RANGEFINDER:
elem = InsertEnd(section, "rangefinder");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "site", psen->get_objname());
break;
case mjSENS_CAMPROJECTION:
elem = InsertEnd(section, "camprojection");
WriteAttrTxt(elem, "site", psen->objname);
WriteAttrTxt(elem, "camera", psen->refname);
WriteAttrTxt(elem, "site", psen->get_objname());
WriteAttrTxt(elem, "camera", psen->get_refname());
break;
// sensors related to scalar joints, tendons, actuators
case mjSENS_JOINTPOS:
elem = InsertEnd(section, "jointpos");
WriteAttrTxt(elem, "joint", psen->objname);
WriteAttrTxt(elem, "joint", psen->get_objname());
break;
case mjSENS_JOINTVEL:
elem = InsertEnd(section, "jointvel");
WriteAttrTxt(elem, "joint", psen->objname);
WriteAttrTxt(elem, "joint", psen->get_objname());
break;
case mjSENS_TENDONPOS:
elem = InsertEnd(section, "tendonpos");
WriteAttrTxt(elem, "tendon", psen->objname);
WriteAttrTxt(elem, "tendon", psen->get_objname());
break;
case mjSENS_TENDONVEL:
elem = InsertEnd(section, "tendonvel");
WriteAttrTxt(elem, "tendon", psen->objname);
WriteAttrTxt(elem, "tendon", psen->get_objname());
break;
case mjSENS_ACTUATORPOS:
elem = InsertEnd(section, "actuatorpos");
WriteAttrTxt(elem, "actuator", psen->objname);
WriteAttrTxt(elem, "actuator", psen->get_objname());
break;
case mjSENS_ACTUATORVEL:
elem = InsertEnd(section, "actuatorvel");
WriteAttrTxt(elem, "actuator", psen->objname);
WriteAttrTxt(elem, "actuator", psen->get_objname());
break;
case mjSENS_ACTUATORFRC:
elem = InsertEnd(section, "actuatorfrc");
WriteAttrTxt(elem, "actuator", psen->objname);
WriteAttrTxt(elem, "actuator", psen->get_objname());
break;
case mjSENS_JOINTACTFRC:
elem = InsertEnd(section, "jointactuatorfrc");
WriteAttrTxt(elem, "joint", psen->objname);
WriteAttrTxt(elem, "joint", psen->get_objname());
break;
// sensors related to ball joints
case mjSENS_BALLQUAT:
elem = InsertEnd(section, "ballquat");
WriteAttrTxt(elem, "joint", psen->objname);
WriteAttrTxt(elem, "joint", psen->get_objname());
break;
case mjSENS_BALLANGVEL:
elem = InsertEnd(section, "ballangvel");
WriteAttrTxt(elem, "joint", psen->objname);
WriteAttrTxt(elem, "joint", psen->get_objname());
break;
// joint and tendon limit sensors
case mjSENS_JOINTLIMITPOS:
elem = InsertEnd(section, "jointlimitpos");
WriteAttrTxt(elem, "joint", psen->objname);
WriteAttrTxt(elem, "joint", psen->get_objname());
break;
case mjSENS_JOINTLIMITVEL:
elem = InsertEnd(section, "jointlimitvel");
WriteAttrTxt(elem, "joint", psen->objname);
WriteAttrTxt(elem, "joint", psen->get_objname());
break;
case mjSENS_JOINTLIMITFRC:
elem = InsertEnd(section, "jointlimitfrc");
WriteAttrTxt(elem, "joint", psen->objname);
WriteAttrTxt(elem, "joint", psen->get_objname());
break;
case mjSENS_TENDONLIMITPOS:
elem = InsertEnd(section, "tendonlimitpos");
WriteAttrTxt(elem, "tendon", psen->objname);
WriteAttrTxt(elem, "tendon", psen->get_objname());
break;
case mjSENS_TENDONLIMITVEL:
elem = InsertEnd(section, "tendonlimitvel");
WriteAttrTxt(elem, "tendon", psen->objname);
WriteAttrTxt(elem, "tendon", psen->get_objname());
break;
case mjSENS_TENDONLIMITFRC:
elem = InsertEnd(section, "tendonlimitfrc");
WriteAttrTxt(elem, "tendon", psen->objname);
WriteAttrTxt(elem, "tendon", psen->get_objname());
break;
// sensors attached to an object with spatial frame: (x)body, geom, site, camera
case mjSENS_FRAMEPOS:
elem = InsertEnd(section, "framepos");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
case mjSENS_FRAMEQUAT:
elem = InsertEnd(section, "framequat");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
case mjSENS_FRAMEXAXIS:
elem = InsertEnd(section, "framexaxis");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
case mjSENS_FRAMEYAXIS:
elem = InsertEnd(section, "frameyaxis");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
case mjSENS_FRAMEZAXIS:
elem = InsertEnd(section, "framezaxis");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
case mjSENS_FRAMELINVEL:
elem = InsertEnd(section, "framelinvel");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
case mjSENS_FRAMEANGVEL:
elem = InsertEnd(section, "frameangvel");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
case mjSENS_FRAMELINACC:
elem = InsertEnd(section, "framelinacc");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
case mjSENS_FRAMEANGACC:
elem = InsertEnd(section, "frameangacc");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
break;
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
case mjSENS_SUBTREECOM:
elem = InsertEnd(section, "subtreecom");
WriteAttrTxt(elem, "body", psen->objname);
WriteAttrTxt(elem, "body", psen->get_objname());
break;
case mjSENS_SUBTREELINVEL:
elem = InsertEnd(section, "subtreelinvel");
WriteAttrTxt(elem, "body", psen->objname);
WriteAttrTxt(elem, "body", psen->get_objname());
break;
case mjSENS_SUBTREEANGMOM:
elem = InsertEnd(section, "subtreeangmom");
WriteAttrTxt(elem, "body", psen->objname);
WriteAttrTxt(elem, "body", psen->get_objname());
break;
// global sensors
@@ -1926,35 +1926,16 @@ void mjXWriter::Sensor(XMLElement* root) {
elem = InsertEnd(section, "plugin");
if (psen->objtype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
}
instance_name = std::string(mjm_getString(psen->plugin.instance_name));
plugin_name = std::string(mjm_getString(psen->plugin.name));
if (!instance_name.empty()) {
WriteAttrTxt(elem, "instance", instance_name);
} else {
WriteAttrTxt(elem, "plugin", plugin_name);
const mjpPlugin* plugin = mjp_getPluginAtSlot(
((mjCPlugin*)psen->plugin.instance)->plugin_slot);
const char* c = &((mjCPlugin*)psen->plugin.instance)->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) {
std::string value(c);
if (!value.empty()) {
XMLElement* config_elem = InsertEnd(elem, "config");
WriteAttrTxt(config_elem, "key", plugin->attributes[i]);
WriteAttrTxt(config_elem, "value", value);
c += value.size();
}
++c;
}
WriteAttrTxt(elem, "objname", psen->get_objname());
}
OnePlugin(elem, psen);
break;
// user-defined sensor
case mjSENS_USER:
elem = InsertEnd(section, "user");
if (mju_type2Str(psen->objtype)) WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->objname);
WriteAttrTxt(elem, "objname", psen->get_objname());
WriteAttrInt(elem, "dim", psen->dim);
WriteAttrKey(elem, "needstage", stage_map, stage_sz, (int)psen->needstage);
WriteAttrKey(elem, "datatype", datatype_map, datatype_sz, (int)psen->datatype);
@@ -1970,12 +1951,12 @@ void mjXWriter::Sensor(XMLElement* root) {
if (psen->type != mjSENS_PLUGIN) {
WriteAttr(elem, "noise", 1, &psen->noise, &zero);
}
WriteVector(elem, "user", psen->userdata);
WriteVector(elem, "user", psen->get_userdata());
// add reference if present
if (psen->reftype != mjOBJ_UNKNOWN && psen->type != mjSENS_CAMPROJECTION) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->refname);
WriteAttrTxt(elem, "refname", psen->get_refname());
}
}