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Reset pending keyframes in source model after attaching.

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Fixes #2101.

PiperOrigin-RevId: 680526395
Change-Id: I3bd06db5231d653b1c5bc1c2ba6b03b52e65f288
This commit is contained in:
Alessio Quaglino
2024-09-30 05:04:12 -07:00
committed by Copybara-Service
parent 58a49bad96
commit 40b2ae92e5
2 changed files with 61 additions and 0 deletions
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src/user/user_objects.cc
+10
View File
@@ -899,6 +899,11 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
// attach referencing elements
*model += *other.model;
// leave the source model in a clean state
if (other.model != model) {
other.model->key_pending_.clear();
}
// clear namespace and return body
other.model->prefix.clear();
other.model->suffix.clear();
@@ -1785,6 +1790,11 @@ mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
// attach referencing elements
*model += *other.model;
// leave the source model in a clean state
if (other.model != model) {
other.model->key_pending_.clear();
}
// clear suffixes and return
other.model->suffix.clear();
other.model->prefix.clear();
test/user/user_api_test.cc
+51
View File
@@ -1386,5 +1386,56 @@ TEST_F(MujocoTest, AttachNestedKeyframe) {
mj_deleteModel(m_child);
}
TEST_F(MujocoTest, RepeatedAttachKeyframe) {
static constexpr char xml_1[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body"/>
</worldbody>
</mujoco>)";
static constexpr char xml_2[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="b1">
<joint/>
<geom size="0.1"/>
</body>
<body name="b2">
<joint/>
<geom size="0.1"/>
</body>
</worldbody>
<keyframe>
<key name="home" qpos="1 2" />
</keyframe>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* spec_1 = mj_parseXMLString(xml_1, 0, er.data(), er.size());
EXPECT_THAT(spec_1, NotNull()) << er.data();
mjSpec* spec_2 = mj_parseXMLString(xml_2, 0, er.data(), er.size());
EXPECT_THAT(spec_2, NotNull()) << er.data();
mjsBody* body_1 = mjs_findBody(spec_1, "body");
mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "b1"), "b1-", "");
mjModel* model_1 = mj_compile(spec_1, 0);
EXPECT_THAT(model_1, NotNull());
mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "b2"), "b2-", "");
mjModel* model_2 = mj_compile(spec_1, 0);
EXPECT_THAT(model_2, NotNull());
EXPECT_EQ(model_1->nkey, 1);
EXPECT_EQ(model_2->nkey, 2);
EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 0), "b1-home");
EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 1), "b2-home");
mj_deleteSpec(spec_1);
mj_deleteSpec(spec_2);
mj_deleteModel(model_1);
mj_deleteModel(model_2);
}
} // namespace
} // namespace mujoco