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Add replicate element to MJCF. Fixes #553

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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
This commit is contained in:
Alessio Quaglino
2024-04-30 06:28:09 -07:00
committed by Copybara-Service
parent 6a5bbb5157
commit 26f23066d1
30 changed files with 8756 additions and 2807 deletions
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src/xml/xml_native_writer.cc
+31 -38
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@@ -811,7 +811,7 @@ string mjXWriter::Write(char *error, size_t error_sz) {
Extension(root);
Custom(root);
Asset(root);
Body(InsertEnd(root, "worldbody"), model->GetWorld(), /*frame=*/nullptr);
Body(InsertEnd(root, "worldbody"), model->GetWorld());
Contact(root);
Deformable(root);
Equality(root);
@@ -1456,20 +1456,31 @@ void mjXWriter::Asset(XMLElement* root) {
XMLElement* mjXWriter::OneFrame(XMLElement* elem, mjCFrame* frame) {
if (!frame) {
return elem;
}
if (frame->name.empty() && frame->classname.empty()) {
return elem;
}
XMLElement* frame_elem = InsertEnd(elem, "frame");
WriteAttrTxt(frame_elem, "name", frame->name);
WriteAttrTxt(frame_elem, "childclass", frame->classname);
return frame_elem;
}
// recursive body and frame writer
void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame) {
void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
double unitq[4] = {1, 0, 0, 0};
if (!body) {
throw mjXError(0, "missing body in XML write"); // SHOULD NOT OCCUR
}
// write frame if defined
if (frame) {
WriteAttrTxt(elem, "name", frame->name);
WriteAttrTxt(elem, "childclass", frame->classname);
}
// write body attributes and inertial
else if (body!=model->GetWorld()) {
WriteAttrTxt(elem, "name", body->name);
@@ -1504,32 +1515,32 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame) {
// write joints
for (int i=0; i<body->joints.size(); i++) {
if (body->joints[i]->frame != frame) continue;
OneJoint(InsertEnd(elem, "joint"), body->joints[i], body->joints[i]->def);
XMLElement* celem = OneFrame(elem, body->joints[i]->frame);
OneJoint(InsertEnd(celem, "joint"), body->joints[i], body->joints[i]->def);
}
// write geoms
for (int i=0; i<body->geoms.size(); i++) {
if (body->geoms[i]->frame != frame) continue;
OneGeom(InsertEnd(elem, "geom"), body->geoms[i], body->geoms[i]->def);
XMLElement* celem = OneFrame(elem, body->geoms[i]->frame);
OneGeom(InsertEnd(celem, "geom"), body->geoms[i], body->geoms[i]->def);
}
// write sites
for (int i=0; i<body->sites.size(); i++) {
if (body->sites[i]->frame != frame) continue;
OneSite(InsertEnd(elem, "site"), body->sites[i], body->sites[i]->def);
XMLElement* celem = OneFrame(elem, body->sites[i]->frame);
OneSite(InsertEnd(celem, "site"), body->sites[i], body->sites[i]->def);
}
// write cameras
for (int i=0; i<body->cameras.size(); i++) {
if (body->cameras[i]->frame != frame) continue;
OneCamera(InsertEnd(elem, "camera"), body->cameras[i], body->cameras[i]->def);
XMLElement* celem = OneFrame(elem, body->cameras[i]->frame);
OneCamera(InsertEnd(celem, "camera"), body->cameras[i], body->cameras[i]->def);
}
// write lights
for (int i=0; i<body->lights.size(); i++) {
if (body->lights[i]->frame != frame) continue;
OneLight(InsertEnd(elem, "light"), body->lights[i], body->lights[i]->def);
XMLElement* celem = OneFrame(elem, body->lights[i]->frame);
OneLight(InsertEnd(celem, "light"), body->lights[i], body->lights[i]->def);
}
// write plugin
@@ -1537,28 +1548,10 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame) {
OnePlugin(InsertEnd(elem, "plugin"), &body->plugin);
}
// write frames
for (int i=0; i<body->frames.size(); i++) {
// skip current frame
if (body->frames[i]->frame != frame) {
continue;
}
// write frame if named or has defaults
if (!body->frames[i]->name.empty() || !body->frames[i]->classname.empty()) {
Body(InsertEnd(elem, "frame"), body, body->frames[i]);
}
// otherwise skip
else {
Body(elem, body, body->frames[i]);
}
}
// write child bodies recursively
for (int i=0; i<body->bodies.size(); i++) {
if (body->bodies[i]->frame != frame) continue;
Body(InsertEnd(elem, "body"), body->bodies[i], nullptr);
XMLElement* celem = OneFrame(elem, body->bodies[i]->frame);
Body(InsertEnd(celem, "body"), body->bodies[i]);
}
}