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Preserve time when recompiling a model.

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Fixes #1890.

PiperOrigin-RevId: 662084324
Change-Id: I6aed40761cee5044e63426935d102123db295b25
This commit is contained in:
Alessio Quaglino
2024-08-12 07:59:53 -07:00
committed by Copybara-Service
parent d3a976e10d
commit 648fd56ed1
2 changed files with 5 additions and 0 deletions
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src/user/user_api.cc
+3
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@@ -91,13 +91,16 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
// recompile spec into existing model and data while preserving the state // recompile spec into existing model and data while preserving the state
void mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) { void mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) {
mjCModel* modelC = static_cast<mjCModel*>(s->element); mjCModel* modelC = static_cast<mjCModel*>(s->element);
mjtNum time = 0;
if (d) { if (d) {
time = d->time;
modelC->SaveState(d->qpos, d->qvel, d->act); modelC->SaveState(d->qpos, d->qvel, d->act);
} }
modelC->Compile(vfs, &m); modelC->Compile(vfs, &m);
if (d) { if (d) {
modelC->MakeData(m, &d); modelC->MakeData(m, &d);
modelC->RestoreState(d->qpos, d->qvel, d->act); modelC->RestoreState(d->qpos, d->qvel, d->act);
d->time = time;
} }
} }
test/user/user_api_test.cc
+2
View File
@@ -851,6 +851,7 @@ TEST_F(MujocoTest, PreserveState) {
// step models // step models
mj_step(model, data); mj_step(model, data);
mj_step(m_expected, d_expected); mj_step(m_expected, d_expected);
EXPECT_THAT(data->time, model->opt.timestep);
// detach subtree // detach subtree
mjsBody* body = mjs_findBody(spec, "detachable"); mjsBody* body = mjs_findBody(spec, "detachable");
@@ -877,6 +878,7 @@ TEST_F(MujocoTest, PreserveState) {
// compile new model // compile new model
mj_recompile(spec, 0, model, data); mj_recompile(spec, 0, model, data);
EXPECT_THAT(model, NotNull()); EXPECT_THAT(model, NotNull());
EXPECT_THAT(data->time, model->opt.timestep);
// compare qpos // compare qpos
EXPECT_EQ(model->nq, m_expected->nq); EXPECT_EQ(model->nq, m_expected->nq);