Tom Erez
21f10ce1b6
Stop force-setting nusersensor, instead allow MuJoCo to infer the size. PiperOrigin-RevId: 494783883 Change-Id: Ia2a1b1803b2904f2dded7b790d01eb6f1920dbaf
47 lines
1.4 KiB
C#
47 lines
1.4 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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public class MjUserSensor : MjBaseSensor {
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public String Name;
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public int Dimension = 0;
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public String UserData;
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protected override XmlElement ToMjcf(XmlDocument doc) {
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if (Dimension == 0) {
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throw new MissingFieldException("Dimension should be larger than 0.");
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}
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var mjcf = doc.CreateElement("user");
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mjcf.SetAttribute("name", Name);
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mjcf.SetAttribute("dim", $"{Dimension}");
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// TODO: add validation that UserData is a space-separated list of floating numbers?
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mjcf.SetAttribute("user", UserData);
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return mjcf;
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}
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protected override void FromMjcf(XmlElement mjcf) {
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Name = mjcf.GetAttribute("name");
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int.TryParse(mjcf.GetAttribute("dim"), out Dimension);
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UserData = mjcf.GetAttribute("user");
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}
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}
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}
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