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Add insidesite sensor for detecting when an object is inside the volume of a site.

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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
This commit is contained in:
Yuval Tassa
2025-07-09 04:55:51 -07:00
committed by Copybara-Service
parent a86461fc57
commit e6c5715903
17 changed files with 244 additions and 27 deletions
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src/xml/xml_native_reader.cc
+8
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@@ -477,6 +477,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"subtreecom", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"subtreelinvel", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"subtreeangmom", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"insidesite", "*", "7", "name", "site", "objtype", "objname", "cutoff", "noise", "user"},
{"distance", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"normal", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"fromto", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
@@ -4084,6 +4085,13 @@ void mjXReader::Sensor(XMLElement* section) {
ReadAttrTxt(elem, "objtype", text, true);
sensor->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
} else if (type == "insidesite") {
sensor->type = mjSENS_INSIDESITE;
sensor->reftype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", refname, true);
ReadAttrTxt(elem, "objtype", text, true);
sensor->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
}
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
src/xml/xml_native_reader.h
+1 -1
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@@ -101,7 +101,7 @@ class mjXReader : public mjXBase {
};
// MJCF schema
#define nMJCF 238
#define nMJCF 239
extern const char* MJCF[nMJCF][mjXATTRNUM];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
src/xml/xml_native_writer.cc
+6
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@@ -2184,6 +2184,12 @@ void mjXWriter::Sensor(XMLElement* root) {
elem = InsertEnd(section, "subtreeangmom");
WriteAttrTxt(elem, "body", sensor->get_objname());
break;
case mjSENS_INSIDESITE:
elem = InsertEnd(section, "insidesite");
WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
WriteAttrTxt(elem, "objname", sensor->get_objname());
WriteAttrTxt(elem, "site", sensor->get_refname());
break;
case mjSENS_GEOMDIST:
elem = InsertEnd(section, "distance");
WriteAttrTxt(elem, sensor->objtype == mjOBJ_BODY ? "body1" : "geom1", sensor->get_objname());