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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 | // Copyright 2019 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
using System;
using System.Linq;
using System.Xml;
using UnityEngine;
namespace Mujoco {
public class MjUserSensor : MjBaseSensor {
public String Name;
public int Dimension = 0;
public String UserData;
protected override XmlElement ToMjcf(XmlDocument doc) {
if (Dimension == 0) {
throw new MissingFieldException("Dimension should be larger than 0.");
}
var mjcf = doc.CreateElement("user");
mjcf.SetAttribute("name", Name);
mjcf.SetAttribute("dim", $"{Dimension}");
if (!String.IsNullOrEmpty(UserData)) {
// TODO: add validation that UserData is a space-separated list of floating numbers?
mjcf.SetAttribute("user", UserData);
}
return mjcf;
}
protected override void FromMjcf(XmlElement mjcf) {
Name = mjcf.GetAttribute("name");
int.TryParse(mjcf.GetAttribute("dim"), out Dimension);
UserData = mjcf.GetAttribute("user");
}
}
}
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