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Write mesh inertia to defaults when exporting to xml. Fixes #2478

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PiperOrigin-RevId: 735338748
Change-Id: Id0b71d06c77baef417f7968ae8a14154243a1f83
This commit is contained in:
Tom Power
2025-03-10 05:29:38 -07:00
committed by Copybara-Service
parent adc3cc06fa
commit e7a715497e
2 changed files with 44 additions and 8 deletions
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src/xml/xml_native_writer.cc
+3 -3
View File
@@ -220,9 +220,6 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
}
WriteAttrTxt(elem, "content_type", mesh->ContentType());
WriteAttrTxt(elem, "file", mesh->File());
if (mesh->Inertia() != def->Mesh().Inertia()) {
WriteAttrTxt(elem, "inertia", FindValue(meshinertia_map, 4, mesh->Inertia()));
}
// write vertex data
if (!mesh->UserVert().empty()) {
@@ -250,6 +247,9 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
}
// defaults and regular
if (mesh->Inertia() != def->Mesh().Inertia()) {
WriteAttrTxt(elem, "inertia", FindValue(meshinertia_map, 4, mesh->Inertia()));
}
WriteAttr(elem, "refpos", 3, mesh->Refpos(), def->Mesh().Refpos());
WriteAttr(elem, "refquat", 4, mesh->Refquat(), def->Mesh().Refquat());
WriteAttr(elem, "scale", 3, mesh->Scale(), def->Mesh().Scale());
test/xml/xml_api_test.cc
+41 -5
View File
@@ -34,6 +34,7 @@ namespace {
using ::testing::IsNull;
using ::testing::NotNull;
using ::testing::StartsWith;
using ::testing::HasSubstr;
static constexpr char xml[] = R"(
<mujoco>
@@ -151,11 +152,46 @@ TEST_F(MujocoTest, SaveXml) {
mjModel* saved_model = mj_compile(saved_spec, 0);
EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
mjtNum tol = 0;
std::string field = "";
EXPECT_LE(CompareModel(model, saved_model, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(spec);
mj_deleteSpec(saved_spec);
mj_deleteModel(model);
mj_deleteModel(saved_model);
}
TEST_F(MujocoTest, SaveXmlWithDefaultMesh) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<mesh inertia="shell"/>
</default>
<asset>
<mesh name="test_mesh" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<body>
<geom mesh="test_mesh" type="mesh"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
std::array<char, 1024> out;
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
error.size()), 0) << error.data();
mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
mjModel* saved_model = mj_compile(saved_spec, 0);
EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
// check that the mesh has inertia="shell"
EXPECT_THAT(out.data(), HasSubstr(R"(<mesh inertia="shell"/>)"));
mj_deleteSpec(spec);
mj_deleteSpec(saved_spec);