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Don't save body gravcomp if 0.

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PiperOrigin-RevId: 520592156
Change-Id: Ifb85c1e78498877bc576cfca224c41b3cf47c9ab
This commit is contained in:
Yuval Tassa
2023-03-30 03:33:13 -07:00
committed by Copybara-Service
parent e4d27d4b90
commit ddfcd3b325
2 changed files with 6 additions and 4 deletions
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src/xml/xml_native_writer.cc
+3 -2
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@@ -1321,8 +1321,9 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
} }
// gravity compensation // gravity compensation
WriteAttr(elem, "gravcomp", 1, &body->gravcomp); if (body->gravcomp) {
WriteAttr(elem, "gravcomp", 1, &body->gravcomp);
}
// userdata // userdata
WriteVector(elem, "user", body->userdata); WriteVector(elem, "user", body->userdata);
test/xml/xml_native_writer_test.cc
+3 -2
View File
@@ -579,8 +579,8 @@ TEST_F(XMLWriterTest, WritesGravComp) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<body gravcomp=".25"> <body gravcomp=".25"/>
</body> <body/>
</worldbody> </worldbody>
</mujoco> </mujoco>
)"; )";
@@ -588,6 +588,7 @@ TEST_F(XMLWriterTest, WritesGravComp) {
ASSERT_THAT(model, NotNull()); ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model); std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("gravcomp=\"0.25\"")); EXPECT_THAT(saved_xml, HasSubstr("gravcomp=\"0.25\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("gravcomp=\"0\"")));
mj_deleteModel(model); mj_deleteModel(model);
} }