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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_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());