Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.

PiperOrigin-RevId: 740378879 Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:35:44 -07:00
parent c931565fdc
commit 157b074116
15 changed files with 165 additions and 2 deletions
@@ -1153,6 +1153,13 @@ class SpecsTest(absltest.TestCase):
        AttributeError, "object has no attribute 'invalid'"
    ):
      print(mj_model.bind(joints).invalid)
+    invalid_spec = mujoco.MjSpec()
+    invalid_spec.worldbody.add_body(name='main')
+    with self.assertRaisesRegex(
+        ValueError,
+        'The mjSpec does not match mjModel. Please recompile the mjSpec.',
+    ):
+      print(mj_model.bind(invalid_spec.body('main')))

  def test_incorrect_hfield_size(self):
    nrow = 300