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Don't save body pos if "0 0 0".

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PiperOrigin-RevId: 520598416
Change-Id: I5bb6ffaec386f228ac7a5fa221822000635900ae
This commit is contained in:
Yuval Tassa
2023-03-30 04:08:26 -07:00
committed by Copybara-Service
parent 3f9defa8d0
commit 1d6a9e09bb
2 changed files with 22 additions and 1 deletions
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src/xml/xml_native_writer.cc
+5 -1
View File
@@ -1321,7 +1321,11 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
if (body!=model->GetWorld()) {
WriteAttrTxt(elem, "name", body->name);
WriteAttrTxt(elem, "childclass", body->classname);
WriteAttr(elem, "pos", 3, body->locpos);
// write pos if it's not {0, 0, 0}
if (body->locpos[0] || body->locpos[1] || body->locpos[2]) {
WriteAttr(elem, "pos", 3, body->locpos);
}
WriteAttr(elem, "quat", 4, body->locquat, unitq);
if (body->mocap) {
WriteAttrKey(elem, "mocap", bool_map, 2, 1);
test/xml/xml_native_writer_test.cc
+17
View File
@@ -601,6 +601,23 @@ TEST_F(XMLWriterTest, WritesGravComp) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesBodyPos) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="1 2 3"/>
<body pos="0 0 0"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("pos=\"1 2 3\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("pos=\"0 0 0\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, UndefinedMassDensity) {
static constexpr char xml[] = R"(
<mujoco>