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Don't write limited and actuatorfrclimited attributes when "true" is not a valid value.

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Saved XMLs are filled with
```
<joint type="free" limited="false" actuatorforcelimited="false"/>
```

but since these are hardcoded to "false" at compile time, there is no point in saving them to XML.

PiperOrigin-RevId: 776606516
Change-Id: Iac61c5126231f776077a8c265be732f9215fbfbb
This commit is contained in:
Yuval Tassa
2025-06-27 09:06:36 -07:00
committed by Copybara-Service
parent e80a62c6d5
commit c945247e7c
2 changed files with 9 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.cc
+2
View File
@@ -2392,6 +2392,7 @@ int mjCJoint::Compile(void) {
if (type == mjJNT_FREE) { if (type == mjJNT_FREE) {
limited = mjLIMITED_FALSE; limited = mjLIMITED_FALSE;
} }
// otherwise if limited is auto, check consistency wrt auto-limits // otherwise if limited is auto, check consistency wrt auto-limits
else if (limited == mjLIMITED_AUTO) { else if (limited == mjLIMITED_AUTO) {
bool hasrange = !(range[0] == 0 && range[1] == 0); bool hasrange = !(range[0] == 0 && range[1] == 0);
@@ -2423,6 +2424,7 @@ int mjCJoint::Compile(void) {
if (type == mjJNT_FREE || type == mjJNT_BALL) { if (type == mjJNT_FREE || type == mjJNT_BALL) {
actfrclimited = mjLIMITED_FALSE; actfrclimited = mjLIMITED_FALSE;
} }
// otherwise if actfrclimited is auto, check consistency wrt auto-limits // otherwise if actfrclimited is auto, check consistency wrt auto-limits
else if (actfrclimited == mjLIMITED_AUTO) { else if (actfrclimited == mjLIMITED_AUTO) {
bool hasrange = !(actfrcrange[0] == 0 && actfrcrange[1] == 0); bool hasrange = !(actfrcrange[0] == 0 && actfrcrange[1] == 0);
src/xml/xml_native_writer.cc
+7 -3
View File
@@ -395,10 +395,14 @@ void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
WriteAttr(elem, "solimpfriction", mjNIMP, joint->solimp_friction, def->Joint().solimp_friction, WriteAttr(elem, "solimpfriction", mjNIMP, joint->solimp_friction, def->Joint().solimp_friction,
true); true);
WriteAttr(elem, "stiffness", 1, &joint->stiffness, &def->Joint().stiffness); WriteAttr(elem, "stiffness", 1, &joint->stiffness, &def->Joint().stiffness);
WriteAttrKey(elem, "limited", TFAuto_map, 3, joint->limited, def->Joint().limited); if (joint->type != mjJNT_FREE) {
WriteAttrKey(elem, "limited", TFAuto_map, 3, joint->limited, def->Joint().limited);
}
WriteAttr(elem, "range", 2, joint->range, def->Joint().range); WriteAttr(elem, "range", 2, joint->range, def->Joint().range);
WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, joint->actfrclimited, if (joint->type != mjJNT_FREE && joint->type != mjJNT_BALL) {
def->Joint().actfrclimited); WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, joint->actfrclimited,
def->Joint().actfrclimited);
}
WriteAttrKey(elem, "actuatorgravcomp", bool_map, 2, joint->actgravcomp, def->Joint().actgravcomp); WriteAttrKey(elem, "actuatorgravcomp", bool_map, 2, joint->actgravcomp, def->Joint().actgravcomp);
WriteAttr(elem, "actuatorfrcrange", 2, joint->actfrcrange, def->Joint().actfrcrange); WriteAttr(elem, "actuatorfrcrange", 2, joint->actfrcrange, def->Joint().actfrcrange);
WriteAttr(elem, "margin", 1, &joint->margin, &def->Joint().margin); WriteAttr(elem, "margin", 1, &joint->margin, &def->Joint().margin);