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Raise warning when attaching a spec with pending keyframes to a different spec.

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PiperOrigin-RevId: 685677622
Change-Id: Iba522c523ebd2afe64d6ab28c6b6b4b3cd399cf8
This commit is contained in:
Alessio Quaglino
2024-10-14 05:53:12 -07:00
committed by Copybara-Service
parent c84f35b425
commit 1e7c109887
4 changed files with 58 additions and 10 deletions
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src/user/user_model.cc
+9 -3
View File
@@ -463,7 +463,7 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
}
// all keyframes are now pending and they will be resized
StoreKeyframes();
StoreKeyframes(this);
DeleteAll(keys_);
// remove body from tree
@@ -3142,9 +3142,15 @@ template void mjCModel::RestoreState<mjtNum>(
// resolve keyframe references
void mjCModel::StoreKeyframes() {
void mjCModel::StoreKeyframes(mjCModel* dest) {
bool resetlists = false;
if (this != dest && !key_pending_.empty()) {
mju_warning(
"Child model has pending keyframes. They will not be namespaced correctly. "
"To prevent this, compile the child model before attaching it again.");
}
// create tree lists if they are empty, occurs if an uncompiled model is attached
if (bodies_.size() == 1 && geoms_.empty() && sites_.empty() && joints_.empty() &&
cameras_.empty() && lights_.empty() && frames_.empty()) {
@@ -3172,7 +3178,7 @@ void mjCModel::StoreKeyframes() {
info.ctrl = !key->spec_ctrl_.empty();
info.mpos = !key->spec_mpos_.empty();
info.mquat = !key->spec_mquat_.empty();
key_pending_.push_back(info);
dest->key_pending_.push_back(info);
ResizeKeyframe(key, qpos0.data(), body_pos0.data(), body_quat0.data());
SaveState(info.name, key->spec_qpos_.data(), key->spec_qvel_.data(),
key->spec_act_.data(), key->spec_ctrl_.data(),
src/user/user_model.h
+1 -1
View File
@@ -297,7 +297,7 @@ class mjCModel : public mjCModel_, private mjSpec {
void MakeData(const mjModel* m, mjData** dest);
// resolve keyframe references
void StoreKeyframes();
void StoreKeyframes(mjCModel* dest);
// map from default class name to default class pointer
std::unordered_map<std::string, mjCDef*> def_map;
src/user/user_objects.cc
+2 -2
View File
@@ -848,7 +848,7 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
mjCBody* subtree = other.body;
other.model->prefix = other.prefix;
other.model->suffix = other.suffix;
other.model->StoreKeyframes();
other.model->StoreKeyframes(model);
// attach defaults
if (other.model != model) {
@@ -1808,7 +1808,7 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
other.model->prefix = other.prefix;
other.model->suffix = other.suffix;
other.model->StoreKeyframes();
other.model->StoreKeyframes(model);
other.model->prefix = "";
other.model->suffix = "";
test/user/user_api_test.cc
+46 -4
View File
@@ -20,12 +20,12 @@
#include <filesystem>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/strings/match.h>
#include "src/cc/array_safety.h"
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include "src/xml/xml_api.h"
@@ -1534,7 +1534,7 @@ TEST_F(MujocoTest, InitTexture) {
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, AttachNestedKeyframe) {
void AttachNestedKeyframe(bool compile) {
static constexpr char parent_xml[] = R"(
<mujoco>
<worldbody>
@@ -1599,6 +1599,32 @@ TEST_F(MujocoTest, AttachNestedKeyframe) {
</keyframe>
</mujoco>)";
static constexpr char expected_xml_uncompiled[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint name="joint" type="slide"/>
<geom size=".1"/>
</body>
<frame name="frame">
<body name="child-body">
<joint name="child-joint" type="slide"/>
<geom size=".2"/>
<frame name="child-frame">
<body name="child-gchild-body">
<joint name="child-gchild-joint" type="slide"/>
<geom size=".3"/>
</body>
</frame>
</body>
</frame>
</worldbody>
<keyframe>
<key name="child-key2" time="2" qpos="0 2 0"/>
<key name="gchild-key1" time="1" qpos="0 0 1"/>
</keyframe>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent = mj_parseXMLString(parent_xml, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
@@ -1612,17 +1638,28 @@ TEST_F(MujocoTest, AttachNestedKeyframe) {
mjs_findBody(gchild, "body"), "gchild-", "");
// compile required before further attachment
mjModel* m_child = mj_compile(child, 0);
mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
// check warning is issued, empty for a compiled model
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
// attach child to parent
mjs_attachBody(mjs_findFrame(parent, "frame"),
mjs_findBody(child, "body"), "child-", "");
EXPECT_THAT(warning, HasSubstr(compile ? "" : "model has pending keyframes"));
// compare models
mjtNum tol = 0;
std::string field = "";
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
mjModel* m_expected = LoadModelFromString(expected_xml, er.data(), er.size());
mjModel* m_expected = LoadModelFromString(
compile ? expected_xml : expected_xml_uncompiled, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
@@ -1636,6 +1673,11 @@ TEST_F(MujocoTest, AttachNestedKeyframe) {
mj_deleteModel(m_child);
}
TEST_F(MujocoTest, TestAttachNestedKeyframe) {
AttachNestedKeyframe(/*compile=*/true);
AttachNestedKeyframe(/*compile=*/false);
}
TEST_F(MujocoTest, RepeatedAttachKeyframe) {
static constexpr char xml_1[] = R"(
<mujoco model="MuJoCo Model">