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Don't save actdim="{0,1}" for state{less,ful} actuators, respectively.

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actdim has a default value of -1 (==unset), which means it currently gets saved for all actuators. After this change, it will only be saved if the value is > 1, errors are thrown for stateful actuators with actdim=0 and stateless actuators with actdim>0.

PiperOrigin-RevId: 520627313
Change-Id: Ia498dae5c7314cfaa0995f8077d297c2339a5c35
This commit is contained in:
Yuval Tassa
2023-03-30 06:59:19 -07:00
committed by Copybara-Service
parent 0becf8fd98
commit c65e046043
2 changed files with 11 additions and 1 deletions
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src/xml/xml_native_writer.cc
+7 -1
View File
@@ -640,7 +640,13 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// non-plugins: write actuator parameters
else {
WriteAttrInt(elem, "actdim", pact->actdim, def->actuator.actdim);
// special handling of actdim which has default value of -1
if (writingdefaults) {
WriteAttrInt(elem, "actdim", pact->actdim, def->actuator.actdim);
} else {
int default_actdim = pact->dyntype == mjDYN_NONE ? 0 : 1;
WriteAttrInt(elem, "actdim", pact->actdim, default_actdim);
}
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->actuator.dyntype);
WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->actuator.gaintype);
WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->actuator.biastype);
test/xml/xml_native_writer_test.cc
+4
View File
@@ -844,6 +844,8 @@ TEST_F(XMLWriterTest, Actdim) {
</worldbody>
<actuator>
<general joint="hinge" dyntype="user" actdim="2"/>
<general joint="hinge" dyntype="filter" dynprm="1"/>
<motor joint="hinge"/>
</actuator>
</mujoco>
)";
@@ -851,6 +853,8 @@ TEST_F(XMLWriterTest, Actdim) {
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actdim=\"2\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actdim=\"1\"")));
EXPECT_THAT(saved_xml, Not(HasSubstr("actdim=\"0\"")));
mj_deleteModel(model);
}