Store the mjsCompiler -> appended mjSpec map when appending an mjSpec.

Previously, we stored the source `mjSpec` during a copy as a hack for having access to the compiler options, but this is not robust since we cannot guarantee that 1) the source `mjSpec` is not destroyed before we need to look up the compiler options nor 2) that the `mjSpec` was appended without a copy.

While 2) could be solved by simply handling an additional case in `mjCModel::FindSpec`, using a map also solves 1) and it is easier to understand.

PiperOrigin-RevId: 741504264
Change-Id: Iab1bfd9e61299a94fa8caf3a244c067b09d54384

src/user/user_model.cc

@@ -212,9 +212,6 @@ mjCModel::mjCModel() {
   // create mjCBase lists from children lists
   CreateObjectLists();
 
-  // the source spec is the model itself, overwritten in the copy constructor
-  source_spec_ = &spec;
-
   // set the signature
   spec.element->signature = 0;
 }
@@ -223,7 +220,6 @@ mjCModel::mjCModel() {
 
 mjCModel::mjCModel(const mjCModel& other) {
   CreateObjectLists();
-  source_spec_ = (mjSpec*)&other.spec;
   *this = other;
 }
 
@@ -239,6 +235,7 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
     // copy attached specs first so that we can resolve references to them
     for (const auto* s : other.specs_) {
       specs_.push_back(mj_copySpec(s));
+      compiler2spec_[&s->compiler] = specs_.back();
     }
 
     // the world copy constructor takes care of copying the tree
@@ -1165,9 +1162,13 @@ mjCPlugin* mjCModel::AddPlugin() {
 
 
 // append spec to spec
-void mjCModel::AppendSpec(mjSpec* spec) {
+void mjCModel::AppendSpec(mjSpec* spec, const mjsCompiler* compiler_) {
   // TODO: check if the spec is already in the list
   specs_.push_back(spec);
+
+  if (compiler_) {
+    compiler2spec_[compiler_] = spec;
+  }
 }
 
 
@@ -1461,10 +1462,15 @@ mjSpec* mjCModel::FindSpec(std::string name) const {
 
 
 // find spec by mjsCompiler pointer
-mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
+mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) {
-  if (&GetSourceSpec()->compiler == compiler_) {
+  if (compiler_ == &spec.compiler) {
-    return (mjSpec*)&spec;
+    return &spec;
   }
+
+  if (compiler2spec_.find(compiler_) != compiler2spec_.end()) {
+    return compiler2spec_[compiler_];
+  }
+
   for (auto s : specs_) {
     mjSpec* source = static_cast<mjCModel*>(s->element)->FindSpec(compiler_);
     if (source) {
@@ -1476,13 +1482,6 @@ mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
 
 
 
-// get the spec from which this model was created
-mjSpec* mjCModel::GetSourceSpec() const {
-  return source_spec_;
-}
-
-
-
 //------------------------------- COMPILER PHASES --------------------------------------------------
 
 // make lists of objects in tree: bodies, geoms, joints, sites, cameras, lights

src/user/user_model.h

@@ -215,7 +215,9 @@ class mjCModel : public mjCModel_, private mjSpec {
   mjCTuple* AddTuple();
   mjCKey* AddKey();
   mjCPlugin* AddPlugin();
-  void AppendSpec(mjSpec* spec);
+
+  // append spec to this model, optionally map compiler options to the appended spec
+  void AppendSpec(mjSpec* spec, const mjsCompiler* compiler = nullptr);
 
   // delete elements marked as discard=true
   template <class T> void Delete(std::vector<T*>& elements,
@@ -248,7 +250,7 @@ class mjCModel : public mjCModel_, private mjSpec {
   mjCBase* FindObject(mjtObj type, std::string name) const;         // find object given type and name
   mjCBase* FindTree(mjCBody* body, mjtObj type, std::string name);  // find tree object given name
   mjSpec* FindSpec(std::string name) const;                         // find spec given name
-  mjSpec* FindSpec(const mjsCompiler* compiler_) const;             // find spec given mjsCompiler
+  mjSpec* FindSpec(const mjsCompiler* compiler_);                   // find spec given mjsCompiler
   void ActivatePlugin(const mjpPlugin* plugin, int slot);           // activate plugin
 
   // accessors
@@ -316,9 +318,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   // map from default class name to default class pointer
   std::unordered_map<std::string, mjCDef*> def_map;
 
-  // get the spec from which this model was created
-  mjSpec* GetSourceSpec() const;
-
   // set deepcopy flag
   void SetDeepCopy(bool deepcopy) { deepcopy_ = deepcopy; }
 
@@ -332,9 +331,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   // settings for each defaults class
   std::vector<mjCDef*> defaults_;
 
-  // spec from which this model was created in copy constructor
-  mjSpec* source_spec_;
-
   // list of active plugins
   std::vector<std::pair<const mjpPlugin*, int>> active_plugins_;
 
@@ -453,5 +449,6 @@ class mjCModel : public mjCModel_, private mjSpec {
   bool deepcopy_;     // copy objects when attaching
   bool attached_ = false;  // true if model is attached to a parent model
   int uid_count_ = 0;  // unique id count for all objects
+  std::unordered_map<const mjsCompiler*, mjSpec*> compiler2spec_;  // map from compiler to spec
 };
 #endif  // MUJOCO_SRC_USER_USER_MODEL_H_

src/user/user_objects.cc

@@ -904,7 +904,7 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
 mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   // append a copy of the attached spec
   if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
-    model->AppendSpec(mj_copySpec(&other.model->spec));
+    model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
   }
 
   // create a copy of the subtree that contains the frame
@@ -2038,7 +2038,7 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
 mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
   // append a copy of the attached spec
   if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
-    model->AppendSpec(mj_copySpec(&other.model->spec));
+    model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
   }
 
   // apply namespace and store keyframes in the source model

test/user/user_api_test.cc

@@ -2514,6 +2514,54 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
   mj_deleteModel(copied_model);
 }
 
+TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
+  static constexpr char xml_parent[] = R"(
+  <mujoco>
+    <worldbody/>
+  </mujoco>
+  )";
+
+  static constexpr char xml_child[] = R"(
+  <mujoco>
+    <compiler eulerseq="zyx"/>
+    <worldbody>
+      <frame name="child" >
+        <site euler="0 90 180"/>
+      </frame>
+    </worldbody>
+  </mujoco>
+  )";
+
+  // load specs and compile child
+  mjSpec* parent = mj_parseXMLString(xml_parent, 0, nullptr, 0);
+  EXPECT_THAT(parent, NotNull());
+  mjSpec* child = mj_parseXMLString(xml_child, 0, nullptr, 0);
+  EXPECT_THAT(child, NotNull());
+  mjModel* m_child = mj_compile(child, 0);
+  EXPECT_THAT(m_child, NotNull());
+
+  // attach child frame to parent worldbody
+  mjsBody* world = mjs_findBody(parent, "world");
+  EXPECT_THAT(world, NotNull());
+  mjsFrame* child_frame = mjs_findFrame(child, "child");
+  EXPECT_THAT(child_frame, NotNull());
+  mjsFrame* attached_frame = mjs_attachFrame(world, child_frame, "child-", "");
+  EXPECT_THAT(attached_frame, NotNull());
+
+  // wrap the child frame in the parent frame and compile
+  mjModel* m_attached = mj_compile(parent, 0);
+  EXPECT_THAT(m_attached, NotNull());
+  EXPECT_NEAR(m_attached->site_quat[0], m_child->site_quat[0], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[1], m_child->site_quat[1], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[2], m_child->site_quat[2], 1e-6);
+  EXPECT_NEAR(m_attached->site_quat[3], m_child->site_quat[3], 1e-6);
+
+  mj_deleteSpec(parent);
+  mj_deleteSpec(child);
+  mj_deleteModel(m_child);
+  mj_deleteModel(m_attached);
+}
+
 TEST_F(MujocoTest, CopyAttachedSpec) {
   static constexpr char xml_parent[] = R"(
   <mujoco>