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Add error handling to mj_recompile.

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This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception.

PiperOrigin-RevId: 666784579
Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48
This commit is contained in:
Alessio Quaglino
2024-08-23 07:17:26 -07:00
committed by Copybara-Service
parent 088079eff0
commit 505d01a1c1
10 changed files with 77 additions and 20 deletions
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doc/APIreference/functions.rst
+5 -5
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@@ -47,7 +47,9 @@ mj_compile
.. mujoco-include:: mj_compile
Compile spec to model.
Compile :ref:`mjSpec` to :ref:`mjModel`. A spec can be edited and compiled multiple times, returning a new
:ref:`mjModel` instance that takes the edits into account.
If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read with :ref:`mjs_getError`.
.. _mj_recompile:
@@ -63,10 +65,8 @@ reallocate existing :ref:`mjModel` and :ref:`mjData` instances in-place. Second,
newly added or removed degrees of freedom. This allows the user to continue simulation with the same model and data
struct pointers while editing the model programmatically.
.. admonition:: Incomplete implementation
:class: attention
This function is currently incomplete, preserving only ``mjData.qpos`` and ``mjData.qvel``.
:ref:`mj_recompile` returns 0 if compilation succeed. In the case of failure, the given :ref:`mjModel` and :ref:`mjData`
instances will be deleted; as in :ref:`mj_compile`, the compilation error can be read with :ref:`mjs_getError`.
.. _mj_saveLastXML:
doc/APIreference/functions_override.rst
+8 -4
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@@ -29,6 +29,12 @@ The key function here is :ref:`mj_loadXML`. It invokes the built-in parser and c
a valid mjModel, or NULL - in which case the user should check the error information in the user-provided string.
The model and all files referenced in it can be loaded from disk or from a VFS when provided.
.. _mj_compile:
Compile :ref:`mjSpec` to :ref:`mjModel`. A spec can be edited and compiled multiple times, returning a new
:ref:`mjModel` instance that takes the edits into account.
If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read with :ref:`mjs_getError`.
.. _mj_recompile:
Recompile spec to model, preserving the state. Like :ref:`mj_compile`, this function compiles an :ref:`mjSpec` to an
@@ -38,10 +44,8 @@ reallocate existing :ref:`mjModel` and :ref:`mjData` instances in-place. Second,
newly added or removed degrees of freedom. This allows the user to continue simulation with the same model and data
struct pointers while editing the model programmatically.
.. admonition:: Incomplete implementation
:class: attention
This function is currently incomplete, preserving only ``mjData.qpos`` and ``mjData.qvel``.
:ref:`mj_recompile` returns 0 if compilation succeed. In the case of failure, the given :ref:`mjModel` and :ref:`mjData`
instances will be deleted; as in :ref:`mj_compile`, the compilation error can be read with :ref:`mjs_getError`.
.. _Mainsimulation: