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Prevent attaching models with different eulerseq, autolimits, or angle options.

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PiperOrigin-RevId: 681801855
Change-Id: Iaf107853797768270319e971a3e318db0703bca0
This commit is contained in:
Alessio Quaglino
2024-10-03 03:26:57 -07:00
committed by Copybara-Service
parent e973dc74dd
commit 249c4b3f4f
2 changed files with 34 additions and 0 deletions
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src/user/user_model.cc
+14
View File
@@ -329,6 +329,20 @@ void mjCModel::CopyPlugin(std::vector<mjCPlugin*>& dest,
}
mjCModel& mjCModel::operator+=(const mjCModel& other) {
// TODO: use compiler settings stored in specs_ during compilation
std::string msg = "cannot attach mjSpecs with incompatible compiler/";
if (other.spec.degree != spec.degree) {
throw mjCError(nullptr, (msg + "angle attribute").c_str());
}
if (other.spec.autolimits != spec.autolimits) {
throw mjCError(nullptr, (msg + "autolimits attribute").c_str());
}
if (other.spec.eulerseq[0] != spec.eulerseq[0] ||
other.spec.eulerseq[1] != spec.eulerseq[1] ||
other.spec.eulerseq[2] != spec.eulerseq[2]) {
throw mjCError(nullptr, (msg + "eulerseq attribute").c_str());
}
// create global lists
mjCBody *world = bodies_[0];
if (compiled) {
test/user/user_api_test.cc
+20
View File
@@ -37,6 +37,7 @@ namespace {
using ::testing::HasSubstr;
using ::testing::NotNull;
using ::testing::IsNull;
// -------------------------- test model manipulation -------------------------
@@ -1486,5 +1487,24 @@ TEST_F(MujocoTest, RepeatedAttachKeyframe) {
mj_deleteModel(model_2);
}
TEST_F(MujocoTest, DifferentUnitsNotAllowed) {
mjSpec* spec_1 = mj_makeSpec();
mjSpec* spec_2 = mj_makeSpec();
spec_1->degree = 1;
spec_2->degree = 0;
mjsBody* body = mjs_addBody(mjs_findBody(spec_1, "world"), 0);
mjsFrame* frame = mjs_addFrame(mjs_findBody(spec_2, "world"), 0);
constexpr char msg[] = "mjSpecs with incompatible compiler/angle";
EXPECT_THAT(mjs_attachBody(frame, body, "child-", ""), IsNull());
EXPECT_THAT(mjs_attachFrame(body, frame, "child-", ""), IsNull());
EXPECT_THAT(mjs_getError(spec_1), HasSubstr(msg));
EXPECT_THAT(mjs_getError(spec_2), HasSubstr(msg));
mj_deleteSpec(spec_1);
mj_deleteSpec(spec_2);
}
} // namespace
} // namespace mujoco