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Trim trailing default values in saved xmls.

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For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:

- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.

PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
This commit is contained in:
Yuval Tassa
2024-02-16 01:35:13 -08:00
committed by Copybara-Service
parent 6a346c42e8
commit f9f7827a64
4 changed files with 65 additions and 26 deletions
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test/xml/xml_native_writer_test.cc
+27 -1
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@@ -722,7 +722,7 @@ TEST_F(XMLWriterTest, WritesActuatorDefaults) {
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
EXPECT_THAT(saved_xml, HasSubstr(
"<general biastype=\"affine\" gainprm=\"3 0 0 0 0 0 0 0 0 0\""));
"<general biastype=\"affine\" gainprm=\"3\""));
mj_deleteModel(model);
}
@@ -999,6 +999,32 @@ TEST_F(XMLWriterTest, ActdimDefaults) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, TrimsDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" friction="0.9" solref="0.1" solimp="0.1 0.2"/>
<joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" kp="3" kv="4"/>
<damper joint="jnt" kv="10" ctrlrange="0 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("friction=\"0.9\""));
EXPECT_THAT(saved_xml, HasSubstr("solref=\"0.1\""));
EXPECT_THAT(saved_xml, HasSubstr("solimp=\"0.1 0.2\""));
EXPECT_THAT(saved_xml, HasSubstr("gainprm=\"3\" biasprm=\"0 -3 -4\""));
EXPECT_THAT(saved_xml, HasSubstr("gainprm=\"0 0 -10\""));
mj_deleteModel(model);
}
// check that no precision is lost when saving XMLs with FullFloatPrecision
TEST_F(XMLWriterTest, SetPrecision) {
static constexpr char xml[] = R"(