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Add additional data fields that can be reported by rangefinder sensors.

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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
This commit is contained in:
Yuval Tassa
2025-12-23 15:31:53 -08:00
committed by Copybara-Service
parent f2e9097ed6
commit 70bc7be4bc
27 changed files with 712 additions and 133 deletions
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src/xml/xml_native_writer.cc
+16 -5
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@@ -2028,11 +2028,22 @@ void mjXWriter::Sensor(XMLElement* root) {
WriteAttrTxt(elem, "site", sensor->get_objname());
break;
case mjSENS_RANGEFINDER:
elem = InsertEnd(section, "rangefinder");
if (sensor->objtype == mjOBJ_SITE) {
WriteAttrTxt(elem, "site", sensor->get_objname());
} else {
WriteAttrTxt(elem, "camera", sensor->get_objname());
{
elem = InsertEnd(section, "rangefinder");
if (sensor->objtype == mjOBJ_SITE) {
WriteAttrTxt(elem, "site", sensor->get_objname());
} else {
WriteAttrTxt(elem, "camera", sensor->get_objname());
}
int dataspec = sensor->intprm[0];
int data[mjNRAYDATA];
int ndata = 0;
for (int i=0; i < mjNRAYDATA; i++) {
if (dataspec & (1 << i)) {
data[ndata++] = i;
}
}
WriteAttrKeys(elem, "data", raydata_map, mjNRAYDATA, data, ndata, 0);
}
break;
case mjSENS_CAMPROJECTION: