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Change the type of state signature arguments from unsigned int to int

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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
This commit is contained in:
Yuval Tassa
2025-12-11 04:33:33 -08:00
committed by Copybara-Service
parent fe0a11d58d
commit 1ff74ba810
9 changed files with 92 additions and 46 deletions
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doc/changelog.rst
+6 -1
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@@ -7,10 +7,15 @@ Upcoming version (not yet released)
General General
^^^^^^^ ^^^^^^^
- Non-breaking ABI changes:
- The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
``unsigned int`` to ``int``. Before this change, invalid negative arguments passed to this function would result in
a silent implicit cast, now negativity will trigger an error.
MJX MJX
^^^ ^^^
1. Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``. - Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
doc/includes/references.h
+6 -6
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@@ -3178,12 +3178,12 @@ void mj_projectConstraint(const mjModel* m, mjData* d);
void mj_referenceConstraint(const mjModel* m, mjData* d); void mj_referenceConstraint(const mjModel* m, mjData* d);
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar, void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian); mjtNum cost[1], int flg_coneHessian);
int mj_stateSize(const mjModel* m, unsigned int sig); int mj_stateSize(const mjModel* m, int sig);
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int sig); void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int srcsig, void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
mjtNum* dst, unsigned int dstsig); mjtNum* dst, int dstsig);
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig); void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, unsigned int sig); void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
void mj_setKeyframe(mjModel* m, const mjData* d, int k); void mj_setKeyframe(mjModel* m, const mjData* d, int k);
int mj_addContact(const mjModel* m, mjData* d, const mjContact* con); int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
int mj_isPyramidal(const mjModel* m); int mj_isPyramidal(const mjModel* m);
include/mujoco/mujoco.h
+6 -6
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@@ -471,20 +471,20 @@ MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
//---------------------------------- Support ------------------------------------------------------- //---------------------------------- Support -------------------------------------------------------
// Return size of state signature. // Return size of state signature.
MJAPI int mj_stateSize(const mjModel* m, unsigned int sig); MJAPI int mj_stateSize(const mjModel* m, int sig);
// Get state. // Get state.
MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int sig); MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
// Extract a subset of components from a state previously obtained via mj_getState. // Extract a subset of components from a state previously obtained via mj_getState.
MJAPI void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int srcsig, MJAPI void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
mjtNum* dst, unsigned int dstsig); mjtNum* dst, int dstsig);
// Set state. // Set state.
MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig); MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
// Copy state from src to dst. // Copy state from src to dst.
MJAPI void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, unsigned int sig); MJAPI void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
// Copy current state to the k-th model keyframe. // Copy current state to the k-th model keyframe.
MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k); MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k);
python/mujoco/introspect/functions.py
+6 -6
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@@ -2461,7 +2461,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='sig', name='sig',
type=ValueType(name='unsigned int'), type=ValueType(name='int'),
), ),
), ),
doc='Return size of state signature.', doc='Return size of state signature.',
@@ -2491,7 +2491,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='sig', name='sig',
type=ValueType(name='unsigned int'), type=ValueType(name='int'),
), ),
), ),
doc='Get state.', doc='Get state.',
@@ -2515,7 +2515,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='srcsig', name='srcsig',
type=ValueType(name='unsigned int'), type=ValueType(name='int'),
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='dst', name='dst',
@@ -2525,7 +2525,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='dstsig', name='dstsig',
type=ValueType(name='unsigned int'), type=ValueType(name='int'),
), ),
), ),
doc='Extract a subset of components from a state previously obtained via mj_getState.', # pylint: disable=line-too-long doc='Extract a subset of components from a state previously obtained via mj_getState.', # pylint: disable=line-too-long
@@ -2555,7 +2555,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='sig', name='sig',
type=ValueType(name='unsigned int'), type=ValueType(name='int'),
), ),
), ),
doc='Set state.', doc='Set state.',
@@ -2585,7 +2585,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='sig', name='sig',
type=ValueType(name='unsigned int'), type=ValueType(name='int'),
), ),
), ),
doc='Copy state from src to dst.', doc='Copy state from src to dst.',
src/engine/engine_support.c
+43 -10
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@@ -164,9 +164,15 @@ static inline const mjtNum* mj_stateElemConstPtr(const mjModel* m, const mjData*
// get size of state signature // get size of state signature
int mj_stateSize(const mjModel* m, unsigned int sig) { int mj_stateSize(const mjModel* m, int sig) {
if (sig < 0) {
mjERROR("invalid state signature %d < 0", sig);
return 0;
}
if (sig >= (1<<mjNSTATE)) { if (sig >= (1<<mjNSTATE)) {
mjERROR("invalid state signature %u >= 2^mjNSTATE", sig); mjERROR("invalid state signature %d >= 2^mjNSTATE", sig);
return 0;
} }
int size = 0; int size = 0;
@@ -182,9 +188,15 @@ int mj_stateSize(const mjModel* m, unsigned int sig) {
// get state // get state
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int sig) { void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig) {
if (sig < 0) {
mjERROR("invalid state signature %d < 0", sig);
return;
}
if (sig >= (1<<mjNSTATE)) { if (sig >= (1<<mjNSTATE)) {
mjERROR("invalid state signature %u >= 2^mjNSTATE", sig); mjERROR("invalid state signature %d >= 2^mjNSTATE", sig);
return;
} }
int adr = 0; int adr = 0;
@@ -213,8 +225,17 @@ void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int
// extract a sub-state from a state // extract a sub-state from a state
void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int srcsig, void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig, mjtNum* dst, int dstsig) {
mjtNum* dst, unsigned int dstsig) { if (srcsig < 0) {
mjERROR("invalid srcsig %d < 0", srcsig);
return;
}
if (srcsig >= (1<<mjNSTATE)) {
mjERROR("invalid srcsig %d >= 2^mjNSTATE", srcsig);
return;
}
if ((srcsig & dstsig) != dstsig) { if ((srcsig & dstsig) != dstsig) {
mjERROR("dstsig is not a subset of srcsig"); mjERROR("dstsig is not a subset of srcsig");
return; return;
@@ -235,9 +256,15 @@ void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int srcsig,
// set state // set state
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig) { void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig) {
if (sig < 0) {
mjERROR("invalid state signature %d < 0", sig);
return;
}
if (sig >= (1<<mjNSTATE)) { if (sig >= (1<<mjNSTATE)) {
mjERROR("invalid state signature %u >= 2^mjNSTATE", sig); mjERROR("invalid state signature %d >= 2^mjNSTATE", sig);
return;
} }
int adr = 0; int adr = 0;
@@ -266,9 +293,15 @@ void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int
// copy state from src to dst // copy state from src to dst
void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, unsigned int sig) { void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig) {
if (sig < 0) {
mjERROR("invalid state signature %d < 0", sig);
return;
}
if (sig >= (1<<mjNSTATE)) { if (sig >= (1<<mjNSTATE)) {
mjERROR("invalid state signature %u >= 2^mjNSTATE", sig); mjERROR("invalid state signature %d >= 2^mjNSTATE", sig);
return;
} }
for (int i=0; i < mjNSTATE; i++) { for (int i=0; i < mjNSTATE; i++) {
src/engine/engine_support.h
+6 -6
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@@ -36,20 +36,20 @@ MJAPI extern const int mjCONDATA_SIZE[mjNCONDATA]; // TODO(tassa): expose in pu
//-------------------------- get/set state --------------------------------------------------------- //-------------------------- get/set state ---------------------------------------------------------
// return size of state signature // return size of state signature
MJAPI int mj_stateSize(const mjModel* m, unsigned int sig); MJAPI int mj_stateSize(const mjModel* m, int sig);
// get state // get state
MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int sig); MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
// extract a sub-state from a state // extract a sub-state from a state
MJAPI void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int srcsig, MJAPI void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
mjtNum* dst, unsigned int dstsig); mjtNum* dst, int dstsig);
// set state // set state
MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig); MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
// copy state from src to dst // copy state from src to dst
MJAPI void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, unsigned int sig); MJAPI void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
// copy current state to the k-th model keyframe // copy current state to the k-th model keyframe
MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k); MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k);
test/engine/engine_support_test.cc
+9 -1
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@@ -844,14 +844,22 @@ TEST_F(SupportTest, ExtractState) {
std::strncpy(last_error_msg, msg, sizeof(last_error_msg)); std::strncpy(last_error_msg, msg, sizeof(last_error_msg));
++error_count; ++error_count;
}; };
auto* old_mju_user_error = mju_user_error; auto* old_mju_user_error = mju_user_error;
mju_user_error = error_handler; mju_user_error = error_handler;
mj_extractState(model, nullptr, srcsig, nullptr, mjSTATE_QFRC_APPLIED); mj_extractState(model, nullptr, srcsig, nullptr, mjSTATE_QFRC_APPLIED);
mju_user_error = old_mju_user_error;
EXPECT_EQ(error_count, 1); EXPECT_EQ(error_count, 1);
EXPECT_EQ(std::string_view(last_error_msg), EXPECT_EQ(std::string_view(last_error_msg),
"mj_extractState: dstsig is not a subset of srcsig"); "mj_extractState: dstsig is not a subset of srcsig");
mj_extractState(model, nullptr, -1, nullptr, mjSTATE_QFRC_APPLIED);
EXPECT_EQ(error_count, 2);
EXPECT_EQ(std::string_view(last_error_msg),
"mj_extractState: invalid srcsig -1 < 0");
mju_user_error = old_mju_user_error;
mj_deleteData(data); mj_deleteData(data);
mj_deleteModel(model); mj_deleteModel(model);
} }
unity/Runtime/Bindings/MjBindings.cs
+5 -5
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@@ -6655,19 +6655,19 @@ public static unsafe extern void mj_referenceConstraint(mjModel_* m, mjData_* d)
public static unsafe extern void mj_constraintUpdate(mjModel_* m, mjData_* d, double* jar, double* cost, int flg_coneHessian); public static unsafe extern void mj_constraintUpdate(mjModel_* m, mjData_* d, double* jar, double* cost, int flg_coneHessian);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)] [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_stateSize(mjModel_* m, uint sig); public static unsafe extern int mj_stateSize(mjModel_* m, int sig);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)] [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_getState(mjModel_* m, mjData_* d, double* state, uint sig); public static unsafe extern void mj_getState(mjModel_* m, mjData_* d, double* state, int sig);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)] [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_extractState(mjModel_* m, double* src, uint srcsig, double* dst, uint dstsig); public static unsafe extern void mj_extractState(mjModel_* m, double* src, int srcsig, double* dst, int dstsig);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)] [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_setState(mjModel_* m, mjData_* d, double* state, uint sig); public static unsafe extern void mj_setState(mjModel_* m, mjData_* d, double* state, int sig);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)] [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_copyState(mjModel_* m, mjData_* src, mjData_* dst, uint sig); public static unsafe extern void mj_copyState(mjModel_* m, mjData_* src, mjData_* dst, int sig);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)] [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_setKeyframe(mjModel_* m, mjData_* d, int k); public static unsafe extern void mj_setKeyframe(mjModel_* m, mjData_* d, int k);
wasm/codegen/generated/bindings.cc
+5 -5
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@@ -7935,7 +7935,7 @@ int mj_copyBack_wrapper(MjSpec& s, const MjModel& m) {
return mj_copyBack(s.get(), m.get()); return mj_copyBack(s.get(), m.get());
} }
void mj_copyState_wrapper(const MjModel& m, const MjData& src, MjData& dst, unsigned int sig) { void mj_copyState_wrapper(const MjModel& m, const MjData& src, MjData& dst, int sig) {
mj_copyState(m.get(), src.get(), dst.get(), sig); mj_copyState(m.get(), src.get(), dst.get(), sig);
} }
@@ -7979,7 +7979,7 @@ void mj_energyVel_wrapper(const MjModel& m, MjData& d) {
mj_energyVel(m.get(), d.get()); mj_energyVel(m.get(), d.get());
} }
void mj_extractState_wrapper(const MjModel& m, const NumberArray& src, unsigned int srcsig, const val& dst, unsigned int dstsig) { void mj_extractState_wrapper(const MjModel& m, const NumberArray& src, int srcsig, const val& dst, int dstsig) {
UNPACK_ARRAY(mjtNum, src); UNPACK_ARRAY(mjtNum, src);
UNPACK_VALUE(mjtNum, dst); UNPACK_VALUE(mjtNum, dst);
mj_extractState(m.get(), src_.data(), srcsig, dst_.data(), dstsig); mj_extractState(m.get(), src_.data(), srcsig, dst_.data(), dstsig);
@@ -8039,7 +8039,7 @@ mjtNum mj_geomDistance_wrapper(const MjModel& m, const MjData& d, int geom1, int
return mj_geomDistance(m.get(), d.get(), geom1, geom2, distmax, fromto_.data()); return mj_geomDistance(m.get(), d.get(), geom1, geom2, distmax, fromto_.data());
} }
void mj_getState_wrapper(const MjModel& m, const MjData& d, const val& state, unsigned int sig) { void mj_getState_wrapper(const MjModel& m, const MjData& d, const val& state, int sig) {
UNPACK_VALUE(mjtNum, state); UNPACK_VALUE(mjtNum, state);
CHECK_SIZE(state, mj_stateSize(m.get(), sig)); CHECK_SIZE(state, mj_stateSize(m.get(), sig));
mj_getState(m.get(), d.get(), state_.data(), sig); mj_getState(m.get(), d.get(), state_.data(), sig);
@@ -8363,7 +8363,7 @@ void mj_setKeyframe_wrapper(MjModel& m, const MjData& d, int k) {
mj_setKeyframe(m.get(), d.get(), k); mj_setKeyframe(m.get(), d.get(), k);
} }
void mj_setState_wrapper(const MjModel& m, MjData& d, const NumberArray& state, unsigned int sig) { void mj_setState_wrapper(const MjModel& m, MjData& d, const NumberArray& state, int sig) {
UNPACK_ARRAY(mjtNum, state); UNPACK_ARRAY(mjtNum, state);
CHECK_SIZE(state, mj_stateSize(m.get(), sig)); CHECK_SIZE(state, mj_stateSize(m.get(), sig));
mj_setState(m.get(), d.get(), state_.data(), sig); mj_setState(m.get(), d.get(), state_.data(), sig);
@@ -8397,7 +8397,7 @@ void mj_solveM2_wrapper(const MjModel& m, MjData& d, const val& x, const NumberA
mj_solveM2(m.get(), d.get(), x_.data(), y_.data(), sqrtInvD_.data(), n); mj_solveM2(m.get(), d.get(), x_.data(), y_.data(), sqrtInvD_.data(), n);
} }
int mj_stateSize_wrapper(const MjModel& m, unsigned int sig) { int mj_stateSize_wrapper(const MjModel& m, int sig) {
return mj_stateSize(m.get(), sig); return mj_stateSize(m.get(), sig);
} }