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Add mjModel.sensor_intprm, integer parameters of sensors

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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
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test/engine/engine_sensor_test.cc
+31 -1
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@@ -544,7 +544,37 @@ TEST_F(SensorTest, Clock) {
mj_deleteModel(model);
}
// test clock sensor
// test that integer parameters pass through
TEST_F(SensorTest, IntPrm) {
constexpr char xml[] = R"(
<mujoco>
<sensor>
<clock name="dummy"/>
</sensor>
</mujoco>
)";
ASSERT_EQ(mjNSENS, 2);
char err[1024];
mjSpec* spec = mj_parseXMLString(xml, 0, err, sizeof(err));
ASSERT_THAT(spec, NotNull()) << err;
mjModel* model = mj_compile(spec, nullptr);
EXPECT_EQ(model->sensor_intprm[0], 0);
EXPECT_EQ(model->sensor_intprm[1], 0);
mj_deleteModel(model);
mjsSensor* s = mjs_asSensor(mjs_findElement(spec, mjOBJ_SENSOR, "dummy"));
s->intprm[0] = 3;
s->intprm[1] = 4;
model = mj_compile(spec, nullptr);
EXPECT_EQ(model->sensor_intprm[0], 3);
EXPECT_EQ(model->sensor_intprm[1], 4);
mj_deleteModel(model);
mj_deleteSpec(spec);
}
// test sequential collision sensors
TEST_F(SensorTest, CollisionSequential) {
constexpr char xml[] = R"(
<mujoco>