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Process asset path before adding VFS buffer.

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Also, handle VFS errors.

PiperOrigin-RevId: 715755127
Change-Id: Iaf455d448f16e37ab89ceaa5797319135acd73c9
This commit is contained in:
Alessio Quaglino
2025-01-15 05:08:48 -08:00
committed by Copybara-Service
parent 66f2758ea5
commit 10c7207cea
1 changed files with 16 additions and 5 deletions
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python/mujoco/specs.cc
+16 -5
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@@ -400,11 +400,22 @@ PYBIND11_MODULE(_specs, m) {
}
mjVFS vfs;
mj_defaultVFS(&vfs);
for (auto item : self.assets) {
std::string buffer = py::cast<std::string>(item.second);
mj_addBufferVFS(&vfs, py::cast<std::string>(item.first).c_str(),
buffer.c_str(), buffer.size());
};
for (const auto& asset : self.assets) {
std::string buffer_name =
_impl::StripPath(py::cast<std::string>(asset.first).c_str());
std::string buffer = py::cast<std::string>(asset.second);
const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
&vfs, buffer_name.c_str(), buffer.c_str(), buffer.size());
if (vfs_error) {
mj_deleteVFS(&vfs);
if (vfs_error == 2) {
throw py::value_error("Repeated file name in assets dict: " +
buffer_name);
} else {
throw py::value_error("Asset failed to load: " + buffer_name);
}
}
}
auto model =
mjmodel_from_spec_ptr(reinterpret_cast<uintptr_t>(self.ptr),
reinterpret_cast<uintptr_t>(&vfs));