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

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PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
This commit is contained in:
Alessio Quaglino
2025-03-25 09:35:44 -07:00
committed by Copybara-Service
parent c931565fdc
commit 157b074116
15 changed files with 165 additions and 2 deletions
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python/mujoco/structs.cc
+22 -2
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@@ -1710,6 +1710,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
// Return the full bytes array of concatenated paths
return m.paths_bytes;
});
mjModel.def_property_readonly(
"signature", [](const MjModelWrapper& m) -> const uint64_t& {
return m.get()->signature;
});
#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS) \
mjModel.def( \
@@ -1730,7 +1734,13 @@ This is useful for example when the MJB is not available as a file on disk.)"));
mjModel.def( \
"bind_scalar", \
[](MjModelWrapper& m, spectype& spec) -> auto& { \
return m.indexer().field##_by_name(mjs_getString(spec.name)); \
if (mjs_getSpec(spec.element)->element->signature != \
m.get()->signature) { \
throw py::value_error( \
"The mjSpec does not match mjModel. Please recompile " \
"the mjSpec."); \
} \
return m.indexer().field(mjs_getId(spec.element)); \
}, \
py::return_value_policy::reference_internal, \
py::arg_v("spec", py::none()));
@@ -2018,6 +2028,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
std::istringstream input(b, std::ios::in | std::ios::binary);
return MjDataWrapper::Deserialize(input);
}));
mjData.def_property_readonly(
"signature", [](const MjDataWrapper& d) -> uint64_t {
return d.get()->signature;
});
#define X(type, var) \
mjData.def_property( \
@@ -2076,7 +2090,13 @@ This is useful for example when the MJB is not available as a file on disk.)"));
mjData.def( \
"bind_scalar", \
[](MjDataWrapper& d, spectype& spec) -> auto& { \
return d.indexer().field##_by_name(mjs_getString(spec.name)); \
if (mjs_getSpec(spec.element)->element->signature != \
d.get()->signature) { \
throw py::value_error( \
"The mjSpec does not match mjData. Please recompile "\
"the mjSpec."); \
} \
return d.indexer().field(mjs_getId(spec.element)); \
}, \
py::return_value_policy::reference_internal, \
py::arg_v("spec", py::none()));