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Write sensor reftype and refname (if present) to XML file.

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PiperOrigin-RevId: 453926332
Change-Id: I61f4aa2dc6186149b22af71eb8bb0fb2ffd84209
This commit is contained in:
Alessio Quaglino
2022-06-09 08:03:04 -07:00
committed by Copybara-Service
parent 3bf377a10d
commit e050f36b5a
2 changed files with 7 additions and 1 deletions
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src/xml/xml_native_writer.cc
+6
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@@ -1559,6 +1559,12 @@ void mjXWriter::Sensor(XMLElement* root) {
WriteAttr(elem, "cutoff", 1, &psen->cutoff, &zero); WriteAttr(elem, "cutoff", 1, &psen->cutoff, &zero);
WriteAttr(elem, "noise", 1, &psen->noise, &zero); WriteAttr(elem, "noise", 1, &psen->noise, &zero);
WriteVector(elem, "user", psen->userdata); WriteVector(elem, "user", psen->userdata);
// add reference if present
if (psen->reftype > 0) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->refname);
}
} }
// remove section if empty // remove section if empty
test/testdata/model.xml
Vendored
+1 -1
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@@ -121,7 +121,7 @@
<general joint="wheel_1" biastype="affine" dyntype="integrator" dynprm="1" biasprm="0 -1"/> <general joint="wheel_1" biastype="affine" dyntype="integrator" dynprm="1" biasprm="0 -1"/>
</actuator> </actuator>
<sensor> <sensor>
<framepos objtype="site" objname="wheel_0"/> <framepos objtype="site" objname="wheel_0" reftype="site" refname="wheel_2"/>
<rangefinder site="rf"/> <rangefinder site="rf"/>
<gyro site="wheel_2"/> <gyro site="wheel_2"/>
<touch site="wheel_1"/> <touch site="wheel_1"/>