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Extend rangefinder sensor to support cameras.

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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
This commit is contained in:
Yuval Tassa
2025-12-23 12:03:37 -08:00
committed by Copybara-Service
parent 4a871990e9
commit 9d646e6548
17 changed files with 383 additions and 39 deletions
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src/xml/xml_native_reader.cc
+7 -3
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@@ -454,7 +454,7 @@ std::vector<const char*> MJCF[nMJCF] = {
{"torque", "*", "name", "site", "cutoff", "noise", "user"},
{"magnetometer", "*", "name", "site", "cutoff", "noise", "user"},
{"camprojection", "*", "name", "site", "camera", "cutoff", "noise", "user"},
{"rangefinder", "*", "name", "site", "cutoff", "noise", "user"},
{"rangefinder", "*", "name", "site", "camera", "cutoff", "noise", "user"},
{"jointpos", "*", "name", "joint", "cutoff", "noise", "user"},
{"jointvel", "*", "name", "joint", "cutoff", "noise", "user"},
{"tendonpos", "*", "name", "tendon", "cutoff", "noise", "user"},
@@ -4052,8 +4052,12 @@ void mjXReader::Sensor(XMLElement* section) {
sensor->reftype = mjOBJ_CAMERA;
} else if (type == "rangefinder") {
sensor->type = mjSENS_RANGEFINDER;
sensor->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
bool use_site = ReadAttrTxt(elem, "site", objname, false);
bool use_camera = ReadAttrTxt(elem, "camera", objname, false);
if (use_site == use_camera) {
throw mjXError(elem, "rangefinder requires exactly one of 'site' or 'camera'");
}
sensor->objtype = use_site ? mjOBJ_SITE : mjOBJ_CAMERA;
}
// sensors related to scalar joints, tendons, actuators