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xml_native_writer saves geom mass or density, if specified.

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Fixes a bug introduced in CL/432455486, which stopped saving explicit inertias if they were inferred from geoms. But if we don't save inertias then we need to save mass/density specifiers.

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xml_native_writer saves geom mass or density, if specified.

END_PUBLIC

PiperOrigin-RevId: 450667775
Change-Id: Ibb5b269b58f1143013091729642bb501243ed943
This commit is contained in:
Alessio Quaglino
2022-05-24 06:32:36 -07:00
committed by Copybara-Service
parent 18921c83ca
commit 20cc535ba6
2 changed files with 93 additions and 0 deletions
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src/xml/xml_native_writer.cc
+5
View File
@@ -289,6 +289,11 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
WriteAttr(elem, "margin", 1, &pgeom->margin, &def->geom.margin);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
if (mjuu_defined(pgeom->_mass)) {
WriteAttr(elem, "mass", 1, &pgeom->mass, &def->geom.mass);
} else {
WriteAttr(elem, "density", 1, &pgeom->density, &def->geom.density);
}
if (pgeom->material != def->geom.material) {
WriteAttrTxt(elem, "material", pgeom->material);
}
test/xml/xml_native_writer_test.cc
+88
View File
@@ -143,6 +143,94 @@ TEST_F(XMLWriterTest, KeepsActlimited) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, UndefinedMassDensity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<geom density="100"/>
</default>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
EXPECT_THAT(saved_xml, HasSubstr("<geom density=\"100\"/>"));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesDensity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05" density="100"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("density=\"100\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesMass) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05" mass="0.1"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"0.1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, OverwritesDensity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="0.2" density="100" mass="100"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"100\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, UsesTwoSpaces) {
static constexpr char xml[] = R"(
<mujoco>