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Save <compiler {boundmass/boundinertia}> if nonzero.

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Fixes #928

PiperOrigin-RevId: 560967976
Change-Id: Idc8c043278362d8925ce41061c65f3e678ad50ce
This commit is contained in:
Yuval Tassa
2023-08-29 02:40:44 -07:00
committed by Copybara-Service
parent 8ba3291365
commit 55173e58f9
2 changed files with 34 additions and 0 deletions
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src/xml/xml_native_writer.cc
+6
View File
@@ -768,6 +768,12 @@ void mjXWriter::Compiler(XMLElement* root) {
if (model->exactmeshinertia) {
WriteAttrTxt(section, "exactmeshinertia", "true");
}
if (model->boundmass) {
WriteAttr(section, "boundmass", 1, &model->boundmass);
}
if (model->boundinertia) {
WriteAttr(section, "boundinertia", 1, &model->boundinertia);
}
// always enable autolimits. limited attributes will be written appropriately
// TODO(b/245077553): Remove this when the default is true.
WriteAttrTxt(section, "autolimits", "true");
test/xml/xml_native_writer_test.cc
+28
View File
@@ -208,6 +208,34 @@ TEST_F(XMLWriterTest, NotAddsInertial) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsBoundMassInertia) {
static constexpr char xml[] = R"(
<mujoco>
<compiler boundmass="0.1" boundinertia="0.2"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("boundmass=\"0.1\""));
EXPECT_THAT(saved_xml, HasSubstr("boundinertia=\"0.2\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DropsZeroBoundMassInertia) {
static constexpr char xml[] = R"(
<mujoco>
<compiler boundmass="0" boundinertia="0"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("boundmass")));
EXPECT_THAT(saved_xml, Not(HasSubstr("boundinertia")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
static constexpr char xml[] = R"(
<mujoco>