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

Add mjModel.sensor_intprm, integer parameters of sensors

Browse Source 
PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
This commit is contained in:
Yuval Tassa
2025-07-09 07:59:28 -07:00
committed by Copybara-Service
parent 9d64ed9575
commit a3d251f552
9 changed files with 60 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjmodel.h
+2
View File
@@ -41,6 +41,7 @@
#define mjNFLUID 12 // number of fluid interaction parameters
#define mjNREF 2 // number of solver reference parameters
#define mjNIMP 5 // number of solver impedance parameters
#define mjNSENS 2 // number of sensor parameters
#define mjNSOLVER 200 // size of one mjData.solver array
#define mjNISLAND 20 // number of mjData.solver arrays
@@ -1130,6 +1131,7 @@ struct mjModel_ {
int* sensor_objid; // id of sensorized object (nsensor x 1)
int* sensor_reftype; // type of reference frame (mjtObj) (nsensor x 1)
int* sensor_refid; // id of reference frame; -1: global frame (nsensor x 1)
int* sensor_intprm; // sensor parameters (nsensor x mjNSENS)
int* sensor_dim; // number of scalar outputs (nsensor x 1)
int* sensor_adr; // address in sensor array (nsensor x 1)
mjtNum* sensor_cutoff; // cutoff for real and positive; 0: ignore (nsensor x 1)
include/mujoco/mjspec.h
+1
View File
@@ -692,6 +692,7 @@ typedef struct mjsSensor_ { // sensor specification
mjString* objname; // name of sensorized object
mjtObj reftype; // type of referenced object
mjString* refname; // name of referenced object
int intprm[mjNSENS]; // integer parameters
// user-defined sensors
mjtDataType datatype; // data type for sensor measurement
include/mujoco/mjxmacro.h
+1
View File
@@ -540,6 +540,7 @@
X ( int, sensor_objid, nsensor, 1 ) \
X ( int, sensor_reftype, nsensor, 1 ) \
X ( int, sensor_refid, nsensor, 1 ) \
X ( int, sensor_intprm, nsensor, mjNSENS ) \
X ( int, sensor_dim, nsensor, 1 ) \
X ( int, sensor_adr, nsensor, 1 ) \
X ( mjtNum, sensor_cutoff, nsensor, 1 ) \