chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Check keyframe size before appending it during attach.

Browse Source 
Fixes #2365.

PiperOrigin-RevId: 718455748
Change-Id: I20c56b7c6fbd868962d19682e72e6294edb6893e
This commit is contained in:
Alessio Quaglino
2025-01-22 11:09:06 -08:00
committed by Copybara-Service
parent aa505a7872
commit 21d97902ee
2 changed files with 50 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+24 -1
View File
@@ -3473,7 +3473,30 @@ void mjCModel::StoreKeyframes(mjCModel* dest) {
info.mpos = !key->spec_mpos_.empty();
info.mquat = !key->spec_mquat_.empty();
dest->key_pending_.push_back(info);
ResizeKeyframe(key, qpos0.data(), body_pos0.data(), body_quat0.data());
if (!key->spec_qpos_.empty() && key->spec_qpos_.size() != nq) {
throw mjCError(nullptr, "Keyframe '%s' has invalid qpos size, got %d, should be %d",
key->name.c_str(), key->spec_qpos_.size(), nq);
}
if (!key->spec_qvel_.empty() && key->spec_qvel_.size() != nv) {
throw mjCError(nullptr, "Keyframe %s has invalid qvel size, got %d, should be %d",
key->name.c_str(), key->spec_qvel_.size(), nv);
}
if (!key->spec_act_.empty() && key->spec_act_.size() != na) {
throw mjCError(nullptr, "Keyframe %s has invalid act size, got %d, should be %d",
key->name.c_str(), key->spec_act_.size(), na);
}
if (!key->spec_ctrl_.empty() && key->spec_ctrl_.size() != nu) {
throw mjCError(nullptr, "Keyframe %s has invalid ctrl size, got %d, should be %d",
key->name.c_str(), key->spec_ctrl_.size(), nu);
}
if (!key->spec_mpos_.empty() && key->spec_mpos_.size() != 3*nmocap) {
throw mjCError(nullptr, "Keyframe %s has invalid mpos size, got %d, should be %d",
key->name.c_str(), key->spec_mpos_.size(), 3*nmocap);
}
if (!key->spec_mquat_.empty() && key->spec_mquat_.size() != 4*nmocap) {
throw mjCError(nullptr, "Keyframe %s has invalid mquat size, got %d, should be %d",
key->name.c_str(), key->spec_mquat_.size(), 4*nmocap);
}
SaveState(info.name, key->spec_qpos_.data(), key->spec_qvel_.data(),
key->spec_act_.data(), key->spec_ctrl_.data(),
key->spec_mpos_.data(), key->spec_mquat_.data());
test/user/user_api_test.cc
+26
View File
@@ -2056,6 +2056,32 @@ TEST_F(MujocoTest, ResizeParentKeyframe) {
mj_deleteModel(expected);
}
TEST_F(MujocoTest, KeyframeSizeError) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<replicate count="2" offset="0 1 0">
<body name="ball" pos="0 0 1">
<geom type="sphere" size="0.1"/>
<joint/>
</body>
</replicate>
</worldbody>
<keyframe>
<key name="valid_qpos" qpos="0.5"/>
<key name="invalid_qpos" qpos="0.5 0.25"/>
</keyframe>
</mujoco>
)";
std::array<char, 1000> er;
mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(spec, IsNull());
EXPECT_THAT(er.data(), HasSubstr(
"Keyframe 'invalid_qpos' has invalid qpos size, got 2, should be 1"));
}
TEST_F(MujocoTest, DifferentUnitsAllowed) {
static constexpr char gchild_xml[] = R"(
<mujoco model="gchild">