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Merge branch 'google-deepmind:main' into main

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This commit is contained in:
Andrew Luo
2024-04-17 14:08:51 +02:00
committed by GitHub
parent 8043e95c00 4b6c07cd7d
commit b2a8ff9b24
3 changed files with 19 additions and 7 deletions
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doc/changelog.rst
+1
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@@ -19,6 +19,7 @@ MJX
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
4. Defaults of lights were not being saved, now fixed. 4. Defaults of lights were not being saved, now fixed.
5. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
Version 3.1.4 (April 10th, 2024) Version 3.1.4 (April 10th, 2024)
src/xml/xml_native_writer.cc
+13 -5
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@@ -1454,7 +1454,7 @@ void mjXWriter::Asset(XMLElement* root) {
// recursive body writer // recursive body and frame writer
void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame) { void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame) {
double unitq[4] = {1, 0, 0, 0}; double unitq[4] = {1, 0, 0, 0};
@@ -1462,14 +1462,14 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame) {
throw mjXError(0, "missing body in XML write"); // SHOULD NOT OCCUR throw mjXError(0, "missing body in XML write"); // SHOULD NOT OCCUR
} }
// write frame if classname is defined // write frame if defined
if (frame) { if (frame) {
WriteAttrTxt(elem, "name", frame->name); WriteAttrTxt(elem, "name", frame->name);
WriteAttrTxt(elem, "childclass", frame->classname); WriteAttrTxt(elem, "childclass", frame->classname);
} }
// write body attributes and inertial // write body attributes and inertial
if (body!=model->GetWorld()) { else if (body!=model->GetWorld()) {
WriteAttrTxt(elem, "name", body->name); WriteAttrTxt(elem, "name", body->name);
WriteAttrTxt(elem, "childclass", body->classname); WriteAttrTxt(elem, "childclass", body->classname);
@@ -1537,10 +1537,18 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame) {
// write frames // write frames
for (int i=0; i<body->frames.size(); i++) { for (int i=0; i<body->frames.size(); i++) {
if (body->frames[i]->frame != frame) continue; // 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()) { if (!body->frames[i]->name.empty() || !body->frames[i]->classname.empty()) {
Body(InsertEnd(elem, "frame"), body, body->frames[i]); Body(InsertEnd(elem, "frame"), body, body->frames[i]);
} else { }
// otherwise skip
else {
Body(elem, body, body->frames[i]); Body(elem, body, body->frames[i]);
} }
} }
test/xml/xml_native_writer_test.cc
+5 -2
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@@ -736,7 +736,7 @@ TEST_F(XMLWriterTest, WritesFrameDefaults) {
<geom size=".5" euler="0 0 20"/> <geom size=".5" euler="0 0 20"/>
</frame> </frame>
<body> <body name="body">
<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"/>
<body pos="1 0 0"> <body pos="1 0 0">
@@ -752,7 +752,10 @@ TEST_F(XMLWriterTest, WritesFrameDefaults) {
EXPECT_THAT(model, NotNull()) << error.data(); EXPECT_THAT(model, NotNull()) << error.data();
std::string saved_xml = SaveAndReadXml(model); std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("frame name=\"f1\"")); EXPECT_THAT(saved_xml, HasSubstr("frame name=\"f1\""));
EXPECT_THAT(saved_xml, HasSubstr("frame name=\"f2\" childclass=\"dframe\"")); EXPECT_THAT(saved_xml, HasSubstr("frame name=\"f2\" childclass=\"dframe\">"));
EXPECT_THAT(saved_xml, HasSubstr("geom pos=\"0 2 0\""));
EXPECT_THAT(saved_xml, HasSubstr("body pos=\"1 1 0\""));
EXPECT_THAT(saved_xml, HasSubstr("geom pos=\"0 0 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("<frame>"))); EXPECT_THAT(saved_xml, Not(HasSubstr("<frame>")));
mj_deleteModel(model); mj_deleteModel(model);
} }