chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix bugs related to saving of <statistics> values.

Browse Source 
Before this change:
- User-modified values of `mjModel.stat.{meanmass, meaninertia}` would not be saved to XML.
- Non-user-modified values of `mjModel.stat.{meansize, extent, center}` would always get saved to XML.

After this change values are saved to XML only if provided by the user, either in the XML or by changing values in `mjModel` before saving.

PiperOrigin-RevId: 589473351
Change-Id: I4dcf4892ef61c35edf424226e731232d861bad8d
This commit is contained in:
Yuval Tassa
2023-12-09 16:05:43 -08:00
committed by Copybara-Service
parent e7d637f375
commit b22919543d
3 changed files with 63 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/xml/xml_native_writer_test.cc
+27 -1
View File
@@ -1135,7 +1135,7 @@ using DecompilerTest = MujocoTest;
TEST_F(DecompilerTest, SavesStatitics) {
static constexpr char xml[] = R"(
<mujoco>
<statistic meansize="2" extent="3" center="4 5 6"/>
<statistic meansize="2" extent="3" center="4 5 6" meanmass="7" meaninertia="8"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
@@ -1145,10 +1145,36 @@ TEST_F(DecompilerTest, SavesStatitics) {
model->stat.center[0] = 9;
model->stat.center[1] = 10;
model->stat.center[2] = 11;
model->stat.meanmass = 12;
model->stat.meaninertia = 13;
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("meansize=\"7\""));
EXPECT_THAT(saved_xml, HasSubstr("extent=\"8\""));
EXPECT_THAT(saved_xml, HasSubstr("center=\"9 10 11\""));
EXPECT_THAT(saved_xml, HasSubstr("meanmass=\"12\""));
EXPECT_THAT(saved_xml, HasSubstr("meaninertia=\"13\""));
mj_deleteModel(model);
}
TEST_F(DecompilerTest, DoesntSaveInferredStatitics) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="0.2"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("meansize")));
EXPECT_THAT(saved_xml, Not(HasSubstr("meanmass")));
EXPECT_THAT(saved_xml, Not(HasSubstr("meaninertia")));
EXPECT_THAT(saved_xml, Not(HasSubstr("center")));
EXPECT_THAT(saved_xml, Not(HasSubstr("extent")));
EXPECT_THAT(saved_xml, Not(HasSubstr("statistic")));
mj_deleteModel(model);
}