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Fix bug in Python binding of mj_saveModel

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PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
This commit is contained in:
Yuval Tassa
2024-04-17 05:57:57 -07:00
committed by Copybara-Service
parent 81feadad5c
commit 2b4975811b
2 changed files with 13 additions and 7 deletions
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doc/changelog.rst
+3 -1
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@@ -19,7 +19,9 @@ MJX
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
4. Defaults of lights were not being saved, now fixed. 4. Defaults of lights were not being saved, now fixed.
5. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4. 5. Prevent overwriting of frame names by body names when saving an XML. Introduced in 3.1.4.
6. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
Version 3.1.4 (April 10th, 2024) Version 3.1.4 (April 10th, 2024)
python/mujoco/functions.cc
+10 -6
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@@ -106,11 +106,11 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_defaultOption>(pymodule); Def<traits::mj_defaultOption>(pymodule);
Def<traits::mj_defaultVisual>(pymodule); Def<traits::mj_defaultVisual>(pymodule);
// Skipped: mj_copyModel (have MjModel.__copy__, memory managed by MjModel) // Skipped: mj_copyModel (have MjModel.__copy__, memory managed by MjModel)
DEF_WITH_OMITTED_PY_ARGS(traits::mj_saveModel, "buffer_sz")( pymodule.def(
pymodule, "mj_saveModel",
[](const raw::MjModel* m, const std::optional<std::string>& filename, [](const MjModelWrapper& m, const std::optional<std::string>& filename = std::nullopt,
std::optional< std::optional<
Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer) { Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer = std::nullopt) {
void* buffer_ptr = nullptr; void* buffer_ptr = nullptr;
int buffer_sz = 0; int buffer_sz = 0;
if (buffer.has_value()) { if (buffer.has_value()) {
@@ -118,9 +118,13 @@ PYBIND11_MODULE(_functions, pymodule) {
buffer_sz = buffer->size(); buffer_sz = buffer->size();
} }
return InterceptMjErrors(::mj_saveModel)( return InterceptMjErrors(::mj_saveModel)(
m, filename.has_value() ? filename->c_str() : nullptr, m.get(), filename.has_value() ? filename->c_str() : nullptr,
buffer_ptr, buffer_sz); buffer_ptr, buffer_sz);
}); },
py::arg("m"), py::arg_v("filename", std::nullopt),
py::arg_v("buffer", std::nullopt),
py::doc(traits::mj_saveModel::doc),
py::call_guard<py::gil_scoped_release>());
// Skipped: mj_loadModel (have MjModel.from_binary_path) // Skipped: mj_loadModel (have MjModel.from_binary_path)
// Skipped: mj_deleteModel (have MjModel.__del__) // Skipped: mj_deleteModel (have MjModel.__del__)
Def<traits::mj_sizeModel>(pymodule); Def<traits::mj_sizeModel>(pymodule);