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Add contact sensor.

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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
This commit is contained in:
Yuval Tassa
2025-07-14 13:01:55 -07:00
committed by Copybara-Service
parent e441868dad
commit d0e4771c8c
25 changed files with 1343 additions and 47 deletions
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src/xml/xml_native_writer.cc
+34 -2
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@@ -28,6 +28,7 @@
#include <mujoco/mujoco.h>
#include "engine/engine_io.h"
#include "engine/engine_plugin.h"
#include "engine/engine_support.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "user/user_model.h"
@@ -76,7 +77,7 @@ static string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
// top level sections
std::array<string, 17> sections = {
"<actuator", "<asset", "<compiler", "<contact", "<custom",
"<actuator", "<asset", "<compiler", "<contact>", "<custom",
"<default>", "<deformable", "<equality", "<extension", "<keyframe",
"<option", "<sensor", "<size", "<statistic", "<tendon",
"<visual", "<worldbody"};
@@ -2205,7 +2206,38 @@ void mjXWriter::Sensor(XMLElement* root) {
WriteAttrTxt(elem, sensor->objtype == mjOBJ_BODY ? "body1" : "geom1", sensor->get_objname());
WriteAttrTxt(elem, sensor->reftype == mjOBJ_BODY ? "body2" : "geom2", sensor->get_refname());
break;
case mjSENS_CONTACT:
{
elem = InsertEnd(section, "contact");
if (sensor->objtype == mjOBJ_BODY) {
WriteAttrTxt(elem, "body1", sensor->get_objname());
} else if (sensor->objtype == mjOBJ_XBODY) {
WriteAttrTxt(elem, "subtree1", sensor->get_objname());
} else if (sensor->objtype == mjOBJ_GEOM) {
WriteAttrTxt(elem, "geom1", sensor->get_objname());
} else if (sensor->objtype == mjOBJ_SITE) {
WriteAttrTxt(elem, "site", sensor->get_objname());
}
if (sensor->reftype == mjOBJ_BODY) {
WriteAttrTxt(elem, "body2", sensor->get_refname());
} else if (sensor->reftype == mjOBJ_XBODY) {
WriteAttrTxt(elem, "subtree2", sensor->get_refname());
} else if (sensor->reftype == mjOBJ_GEOM) {
WriteAttrTxt(elem, "geom2", sensor->get_refname());
}
int dataspec = sensor->intprm[0];
WriteAttrInt(elem, "num", sensor->dim / mju_condataSize(dataspec), 1);
int data[mjNCONDATA];
int ndata = 0;
for (int i=0; i < mjNCONDATA; i++) {
if (dataspec & (1 << i)) {
data[ndata++] = i;
}
}
WriteAttrKeys(elem, "data", condata_map, mjNCONDATA, data, ndata, 0);
WriteAttrKey(elem, "reduce", reduce_map, reduce_sz, sensor->intprm[1], 0);
}
break;
// global sensors
case mjSENS_E_POTENTIAL:
elem = InsertEnd(section, "potential");