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Added functionality for user payload data in mjSpec.

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PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
This commit is contained in:
Alessio Quaglino
2025-03-19 04:35:12 -07:00
committed by Copybara-Service
parent dc50fbbb9b
commit 209d2bd2c5
9 changed files with 184 additions and 2 deletions
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doc/APIreference/functions.rst
+27
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@@ -4458,6 +4458,33 @@ Resolve alternative orientations to quat, return error if any.
Transform body into a frame.
.. _mjs_setUserValue:
`mjs_setUserValue <#mjs_setUserValue>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setUserValue
Set user payload, overriding the existing value for the specified key if present.
.. _mjs_getUserValue:
`mjs_getUserValue <#mjs_getUserValue>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getUserValue
Return user payload or NULL if none found.
.. _mjs_deleteUserValue:
`mjs_deleteUserValue <#mjs_deleteUserValue>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_deleteUserValue
Delete user payload.
.. _ElementInitialization:
Element initialization
doc/includes/references.h
+3
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@@ -3677,6 +3677,9 @@ void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
const mjsOrientation* orientation);
mjsFrame* mjs_bodyToFrame(mjsBody** body);
void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
const void* mjs_getUserValue(mjsElement* element, const char* key);
void mjs_deleteUserValue(mjsElement* element, const char* key);
void mjs_defaultSpec(mjSpec* spec);
void mjs_defaultOrientation(mjsOrientation* orient);
void mjs_defaultBody(mjsBody* body);
include/mujoco/mujoco.h
+9
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@@ -1648,6 +1648,15 @@ MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const c
// Transform body into a frame.
MJAPI mjsFrame* mjs_bodyToFrame(mjsBody** body);
// Set user payload, overriding the existing value for the specified key if present.
MJAPI void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
// Return user payload or NULL if none found.
MJAPI const void* mjs_getUserValue(mjsElement* element, const char* key);
// Delete user payload.
MJAPI void mjs_deleteUserValue(mjsElement* element, const char* key);
//---------------------------------- Element initialization ---------------------------------------
// Default spec attributes.
python/mujoco/introspect/functions.py
+68
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@@ -10471,6 +10471,74 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Transform body into a frame.',
)),
('mjs_setUserValue',
FunctionDecl(
name='mjs_setUserValue',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
FunctionParameterDecl(
name='key',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='data',
type=PointerType(
inner_type=ValueType(name='void', is_const=True),
),
),
),
doc='Set user payload, overriding the existing value for the specified key if present.', # pylint: disable=line-too-long
)),
('mjs_getUserValue',
FunctionDecl(
name='mjs_getUserValue',
return_type=PointerType(
inner_type=ValueType(name='void', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
FunctionParameterDecl(
name='key',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return user payload or NULL if none found.',
)),
('mjs_deleteUserValue',
FunctionDecl(
name='mjs_deleteUserValue',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
FunctionParameterDecl(
name='key',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Delete user payload.',
)),
('mjs_defaultSpec',
FunctionDecl(
name='mjs_defaultSpec',
src/user/user_api.cc
+24
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@@ -769,6 +769,30 @@ mjsFrame* mjs_bodyToFrame(mjsBody** body) {
// set user payload
void mjs_setUserValue(mjsElement* element, const char* key, const void* data) {
mjCBase* baseC = static_cast<mjCBase*>(element);
baseC->SetUserValue(key, data);
}
// return user payload or NULL if none found
const void* mjs_getUserValue(mjsElement* element, const char* key) {
mjCBase* baseC = static_cast<mjCBase*>(element);
return baseC->GetUserValue(key);
}
// delete user payload
void mjs_deleteUserValue(mjsElement* element, const char* key) {
mjCBase* baseC = static_cast<mjCBase*>(element);
baseC->DeleteUserValue(key);
}
// get id
int mjs_getId(mjsElement* element) {
if (!element) {
src/user/user_api.h
+9
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@@ -378,6 +378,15 @@ MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const c
// Transform body into a frame.
MJAPI mjsFrame* mjs_bodyToFrame(mjsBody** body);
// Set user payload.
MJAPI void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
// Return user payload or NULL if none found.
MJAPI const void* mjs_getUserValue(mjsElement* element, const char* key);
// Delete user payload.
MJAPI void mjs_deleteUserValue(mjsElement* element, const char* key);
//---------------------------------- Initialization -----------------------------------------------
src/user/user_objects.cc
+16
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@@ -766,6 +766,22 @@ void mjCBase::SetFrame(mjCFrame* _frame) {
}
void mjCBase::SetUserValue(std::string_view key, const void* data) {
user_payload_[std::string(key)] = data;
}
const void* mjCBase::GetUserValue(std::string_view key) {
auto found = user_payload_.find(std::string(key));
return found != user_payload_.end() ? found->second : nullptr;
}
void mjCBase::DeleteUserValue(std::string_view key) {
user_payload_.erase(std::string(key));
}
//------------------ class mjCBody implementation --------------------------------------------------
// constructor
src/user/user_objects.h
+13 -2
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@@ -23,11 +23,14 @@
#include <map>
#include <string>
#include <string_view>
#include <unordered_map>
#include <utility>
#include <vector>
#include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h>
#include <mujoco/mjspec.h>
#include <mujoco/mujoco.h>
#include <mujoco/mjtnum.h>
#include "user/user_cache.h"
#include "user/user_util.h"
#include <tiny_obj_loader.h>
@@ -274,12 +277,20 @@ class mjCBase : public mjCBase_ {
}
}
// Set and get user payload
void SetUserValue(std::string_view key, const void* data);
const void* GetUserValue(std::string_view key);
void DeleteUserValue(std::string_view key);
protected:
mjCBase(); // constructor
mjCBase(const mjCBase& other); // copy constructor
// reference count for allowing deleting an attached object
int refcount = 1;
// user payload
std::unordered_map<std::string, const void*> user_payload_;
};
@@ -781,7 +792,7 @@ class mjCLight : public mjCLight_, private mjsLight {
class mjCFlex_ : public mjCBase {
protected:
int nvert; // number of verices
int nvert; // number of vertices
int nnode; // number of nodes
int nedge; // number of edges
int nelem; // number of elements
test/user/user_api_test.cc
+15
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@@ -2585,5 +2585,20 @@ TEST_F(MujocoTest, SetFrameReverseOrder) {
mj_deleteSpec(copy);
}
TEST_F(MujocoTest, UserValue) {
mjSpec* spec = mj_makeSpec();
EXPECT_THAT(spec, NotNull());
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), nullptr);
EXPECT_THAT(body, NotNull());
std::string data = "data";
mjs_setUserValue(body->element, "key", data.data());
EXPECT_THAT(mjs_getUserValue(body->element, "invalid_key"), IsNull());
const void* payload = mjs_getUserValue(body->element, "key");
EXPECT_STREQ(static_cast<const char*>(payload), data.c_str());
mjs_deleteUserValue(body->element, "key");
EXPECT_THAT(mjs_getUserValue(body->element, "key"), IsNull());
mj_deleteSpec(spec);
}
} // namespace
} // namespace mujoco