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Add attach tag to MJCF.

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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
This commit is contained in:
Alessio Quaglino
2024-07-10 12:40:50 -07:00
committed by Copybara-Service
parent 5b080bacc4
commit 27b9ddda5b
19 changed files with 419 additions and 248 deletions
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src/user/user_api.cc
+18
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@@ -101,6 +101,7 @@ int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
try {
*frame_parent += std::string(prefix) + *child_body + std::string(suffix);
} catch (mjCError& e) {
frame_parent->model->SetError(e);
return -1;
}
return 0;
@@ -116,6 +117,7 @@ int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
try {
*body_parent += std::string(prefix) + *child_frame + std::string(suffix);
} catch (mjCError& e) {
body_parent->model->SetError(e);
return -1;
}
return 0;
@@ -158,6 +160,14 @@ void mj_deleteSpec(mjSpec* s) {
// add spec (model asset) to spec
void mjs_addSpec(mjSpec* s, mjSpec* child) {
mjCModel* model = static_cast<mjCModel*>(s->element);
model->AppendSpec(child);
}
// delete object, it will call the appropriate destructor since ~mjCBase is virtual
void mjs_delete(mjsElement* element) {
mjCBase* object = static_cast<mjCBase*>(element);
@@ -466,6 +476,14 @@ mjSpec* mjs_getSpec(mjsBody* body) {
// find spec (model asset) by name
mjSpec* mjs_findSpec(mjSpec* s, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element);
return model->FindSpec(name);
}
// get default
mjsDefault* mjs_getDefault(mjsElement* element) {
mjCModel* model = static_cast<mjCBase*>(element)->model;
src/user/user_api.h
+6
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@@ -60,6 +60,9 @@ MJAPI void mj_copyBack(mjSpec* s, const mjModel* m);
// Delete spec.
MJAPI void mj_deleteSpec(mjSpec* s);
// Add spec (model asset) to spec.
MJAPI void mjs_addSpec(mjSpec* s, mjSpec* child);
//---------------------------------- Attachment ----------------------------------------------------
@@ -182,6 +185,9 @@ MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
// Get spec from body.
MJAPI mjSpec* mjs_getSpec(mjsBody* body);
// Find spec (model asset) by name.
MJAPI mjSpec* mjs_findSpec(mjSpec* spec, const char* name);
// Find body in model by name.
MJAPI mjsBody* mjs_findBody(mjSpec* s, const char* name);
src/user/user_model.cc
+25 -1
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@@ -16,6 +16,7 @@
#include <algorithm>
#include <cmath>
#include <array>
#include <csetjmp>
#include <cstddef>
#include <cstdint>
@@ -33,7 +34,6 @@
#include <mujoco/mjspec.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjplugin.h>
#include <mujoco/mjvisualize.h>
#include "cc/array_safety.h"
#include "engine/engine_forward.h"
#include "engine/engine_io.h"
@@ -338,6 +338,7 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
// add default tree to this model
mjCModel_& mjCModel::operator+=(mjCDef& subtree) {
defaults_.push_back(&subtree);
def_map[subtree.name] = &subtree;
// set parent to the main default if this is not the only default in the model
if (!subtree.parent && &subtree != defaults_[0]) {
@@ -660,6 +661,11 @@ mjCPlugin* mjCModel::AddPlugin() {
}
// append spec to spec
void mjCModel::AppendSpec(mjSpec* spec) {
specs_.push_back(spec);
}
//------------------------ API FOR ACCESS TO MODEL ELEMENTS ---------------------------------------
@@ -886,6 +892,18 @@ mjCFrame* mjCModel::FindFrame(mjCBody* body, std::string name) const{
// find spec by name
mjSpec* mjCModel::FindSpec(std::string name) const {
for (auto spec : specs_) {
if (mjs_getString(spec->modelname) == name) {
return spec;
}
}
return nullptr;
}
// detect null pose
bool mjCModel::IsNullPose(const mjtNum* pos, const mjtNum* quat) const {
bool result = true;
@@ -3247,6 +3265,12 @@ mjModel* mjCModel::Compile(const mjVFS* vfs, mjModel** m) {
return nullptr;
}
// destroy attached specs
for (auto spec : specs_) {
mj_deleteSpec(spec);
}
specs_.clear();
// restore error handler, mark as compiled, return mjModel
_mjPRIVATE__set_tls_error_fn(save_error);
_mjPRIVATE__set_tls_warning_fn(save_warning);
src/user/user_model.h
+4 -1
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@@ -192,7 +192,7 @@ class mjCModel : public mjCModel_, private mjSpec {
mjCTuple* AddTuple();
mjCKey* AddKey();
mjCPlugin* AddPlugin();
void AppendSpec(mjSpec* spec);
// delete elements marked as discard=true
template <class T> void Delete(std::vector<T*>& elements,
@@ -209,12 +209,14 @@ class mjCModel : public mjCModel_, private mjSpec {
// API for access to other variables
bool IsCompiled() const; // is model already compiled
const mjCError& GetError() const; // get reference of error object
void SetError(const mjCError& error) { errInfo = error; } // set value of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDefault(std::string name); // find defaults class name
mjCDef* AddDefault(std::string name, mjCDef* parent = nullptr); // add defaults class to array
mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
mjCBody* FindBody(mjCBody* body, std::string name); // find body given name
mjCFrame* FindFrame(mjCBody* body, std::string name) const; // find frame given name
mjSpec* FindSpec(std::string name) const; // find spec given name
bool IsNullPose(const mjtNum* pos, const mjtNum* quat) const; // detect null pose
void SetActivePlugins(const std::vector<std::pair<const mjpPlugin*, int>>&& active_plugins) {
active_plugins_ = std::move(active_plugins);
@@ -312,6 +314,7 @@ class mjCModel : public mjCModel_, private mjSpec {
std::vector<mjCTuple*> tuples_; // list of tuple fields
std::vector<mjCKey*> keys_; // list of keyframe fields
std::vector<mjCPlugin*> plugins_; // list of plugin instances
std::vector<mjSpec*> specs_; // list of specs
// pointers to objects created inside kinematic tree
std::vector<mjCBody*> bodies_; // list of bodies
src/user/user_objects.cc
+15
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@@ -697,6 +697,9 @@ void mjCBase::NameSpace(const mjCModel* m) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
}
@@ -1000,6 +1003,9 @@ void mjCBody::NameSpace_(const mjCModel* m, bool propagate) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
for (auto& body : bodies) {
body->prefix = m->prefix;
@@ -2004,6 +2010,9 @@ void mjCGeom::NameSpace(const mjCModel* m) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
if (!spec_material_.empty() && model != m) {
spec_material_ = m->prefix + spec_material_ + m->suffix;
}
@@ -2768,6 +2777,9 @@ void mjCCamera::NameSpace(const mjCModel* m) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
if (!spec_targetbody_.empty()) {
spec_targetbody_ = m->prefix + spec_targetbody_ + m->suffix;
}
@@ -2917,6 +2929,9 @@ void mjCLight::NameSpace(const mjCModel* m) {
if (!name.empty()) {
name = m->prefix + name + m->suffix;
}
if (!classname.empty() && m != model) {
classname = m->prefix + classname + m->suffix;
}
if (!spec_targetbody_.empty()) {
spec_targetbody_ = m->prefix + spec_targetbody_ + m->suffix;
}