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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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test/user/user_api_test.cc
+21
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@@ -140,6 +140,27 @@ TEST_F(PluginTest, ActivatePlugin) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, RecompileFails) {
mjSpec* spec = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjsGeom* geom = mjs_addGeom(body, 0);
geom->type = mjGEOM_SPHERE;
geom->size[0] = 1;
mjModel* model = mj_compile(spec, 0);
mjData* data = mj_makeData(model);
mjsMaterial* mat1 = mjs_addMaterial(spec, 0);
mjsMaterial* mat2 = mjs_addMaterial(spec, 0);
mjs_setString(mat1->name, "yellow");
mjs_setString(mat2->name, "yellow");
EXPECT_EQ(mj_recompile(spec, 0, model, data), -1);
EXPECT_STREQ(mjs_getError(spec), "Error: repeated name 'yellow' in material");
mj_deleteSpec(spec);
}
// ------------------- test recompilation multiple files -----------------------
TEST_F(PluginTest, RecompileCompare) {
mjtNum tol = 0;