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Do not write nameless frames whose class is "main".

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PiperOrigin-RevId: 769685151
Change-Id: I3d993d7521db2b2adbf611c3e4eb5b4b293bdc30
This commit is contained in:
Alessio Quaglino
2025-06-10 10:14:42 -07:00
committed by Copybara-Service
parent bf56312c9d
commit 5f42078dc1
2 changed files with 5 additions and 6 deletions
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src/xml/xml_native_writer.cc
+2 -1
View File
@@ -1595,7 +1595,8 @@ XMLElement* mjXWriter::OneFrame(XMLElement* elem, mjCFrame* frame) {
return elem; return elem;
} }
if (frame->name.empty() && frame->classname.empty()) { // TODO: empty classname should not occur (but does)
if (frame->name.empty() && (frame->classname.empty() || frame->classname == "main")) {
return elem; return elem;
} }
test/xml/xml_native_writer_test.cc
+3 -5
View File
@@ -762,7 +762,7 @@ TEST_F(XMLWriterTest, WritesFrameDefaults) {
<frame pos="0 1 0" name="f2" childclass="dframe"> <frame pos="0 1 0" name="f2" childclass="dframe">
<geom pos="0 1 0"/> <geom pos="0 1 0"/>
<frame pos="0 1 0" name="f3"> <frame pos="0 1 0" name="f3">
<frame pos="0 1 0" name="f4"> <frame pos="0 1 0">
<body pos="1 0 0"> <body pos="1 0 0">
<geom pos="0 0 1"/> <geom pos="0 0 1"/>
</body> </body>
@@ -791,16 +791,14 @@ TEST_F(XMLWriterTest, WritesFrameDefaults) {
<frame name="f2" childclass="dframe"> <frame name="f2" childclass="dframe">
<geom pos="0 2 0"/> <geom pos="0 2 0"/>
<frame name="f3" childclass="dframe"> <frame name="f3" childclass="dframe">
<frame name="f4" childclass="dframe"> <frame childclass="dframe">
<body pos="1 3 0"> <body pos="1 3 0">
<geom pos="0 0 1"/> <geom pos="0 0 1"/>
</body> </body>
</frame> </frame>
</frame> </frame>
</frame> </frame>
<frame> <light pos="0 0 1" dir="0 0 -1"/>
<light pos="0 0 1" dir="0 0 -1"/>
</frame>
</body> </body>
<frame name="f1"> <frame name="f1">
<geom size="0.5" quat="0.906308 0 0 0.422618"/> <geom size="0.5" quat="0.906308 0 0 0.422618"/>