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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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include/mujoco/mujoco.h
+2 -2
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@@ -106,8 +106,8 @@ MJAPI mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error,
// Compile spec to model.
MJAPI mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
// Recompile spec to model, preserving the state.
MJAPI void mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
// Recompile spec to model, preserving the state, return 0 on success.
MJAPI int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
// Update XML data structures with info from low-level model, save as MJCF.
// If error is not NULL, it must have size error_sz.