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Check keyframe size before appending it during attach.

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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
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src/user/user_model.cc
+24 -1
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@@ -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());