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Improve error message for keyframe size mismatch. Fixes #2041

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PiperOrigin-RevId: 671069582
Change-Id: Ie63d3bf2b543f7bb5e3c123093095e76a95b7b48
This commit is contained in:
Yuval Tassa
2024-09-04 12:57:20 -07:00
committed by Copybara-Service
parent 4a4db13eba
commit 621ea29382
1 changed files with 6 additions and 6 deletions
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src/user/user_objects.cc
+6 -6
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@@ -6706,7 +6706,7 @@ void mjCKey::Compile(const mjModel* m) {
qpos_[i] = (double)m->qpos0[i]; qpos_[i] = (double)m->qpos0[i];
} }
} else if (qpos_.size() != m->nq) { } else if (qpos_.size() != m->nq) {
throw mjCError(this, "key %d: invalid qpos size, expected length %d", nullptr, id, m->nq); throw mjCError(this, "keyframe %d: invalid qpos size, expected length %d", nullptr, id, m->nq);
} }
// qvel: allocate or check size // qvel: allocate or check size
@@ -6716,7 +6716,7 @@ void mjCKey::Compile(const mjModel* m) {
qvel_[i] = 0; qvel_[i] = 0;
} }
} else if (qvel_.size() != m->nv) { } else if (qvel_.size() != m->nv) {
throw mjCError(this, "key %d: invalid qvel size, expected length %d", nullptr, id, m->nv); throw mjCError(this, "keyframe %d: invalid qvel size, expected length %d", nullptr, id, m->nv);
} }
// act: allocate or check size // act: allocate or check size
@@ -6726,7 +6726,7 @@ void mjCKey::Compile(const mjModel* m) {
act_[i] = 0; act_[i] = 0;
} }
} else if (act_.size() != m->na) { } else if (act_.size() != m->na) {
throw mjCError(this, "key %d: invalid act size, expected length %d", nullptr, id, m->na); throw mjCError(this, "keyframe %d: invalid act size, expected length %d", nullptr, id, m->na);
} }
// mpos: allocate or check size // mpos: allocate or check size
@@ -6743,7 +6743,7 @@ void mjCKey::Compile(const mjModel* m) {
} }
} }
} else if (mpos_.size() != 3*m->nmocap) { } else if (mpos_.size() != 3*m->nmocap) {
throw mjCError(this, "key %d: invalid mpos size, expected length %d", nullptr, id, 3*m->nmocap); throw mjCError(this, "keyframe %d: invalid mpos size, expected length %d", nullptr, id, 3*m->nmocap);
} }
// mquat: allocate or check size // mquat: allocate or check size
@@ -6761,7 +6761,7 @@ void mjCKey::Compile(const mjModel* m) {
} }
} }
} else if (mquat_.size() != 4*m->nmocap) { } else if (mquat_.size() != 4*m->nmocap) {
throw mjCError(this, "key %d: invalid mquat size, expected length %d", nullptr, id, 4*m->nmocap); throw mjCError(this, "keyframe %d: invalid mquat size, expected length %d", nullptr, id, 4*m->nmocap);
} }
// ctrl: allocate or check size // ctrl: allocate or check size
@@ -6771,7 +6771,7 @@ void mjCKey::Compile(const mjModel* m) {
ctrl_[i] = 0; ctrl_[i] = 0;
} }
} else if (ctrl_.size() != m->nu) { } else if (ctrl_.size() != m->nu) {
throw mjCError(this, "key %d: invalid ctrl size, expected length %d", nullptr, id, m->nu); throw mjCError(this, "keyframe %d: invalid ctrl size, expected length %d", nullptr, id, m->nu);
} }
} }