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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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python/mujoco/structs.cc
+3 -1
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@@ -456,7 +456,9 @@ py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel)));
m->buffer = nullptr;
raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get());
mj_recompile(spec, nullptr, m, d);
if (mj_recompile(spec, nullptr, m, d)) {
throw py::value_error(mjs_getError(spec));
}
py::object m_pyobj = py::cast((MjModelWrapper(m)));
py::object d_pyobj =