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Do not use fast lookup for frames.

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Fast lookup is not possible since mjOBJ_FRAME > mjNOBJECT, which is the size of the objects maps used for the search.

Fixes #2328.

PiperOrigin-RevId: 712479460
Change-Id: I7bcfa75ff8a1e288183d60ed4a44cab5bc6f4173
This commit is contained in:
Alessio Quaglino
2025-01-06 04:16:56 -08:00
committed by Copybara-Service
parent daed8f46c8
commit 65048d6b8f
2 changed files with 4 additions and 1 deletions
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src/user/user_api.cc
+1 -1
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@@ -614,7 +614,7 @@ mjsBody* mjs_findBody(mjSpec* s, const char* name) {
// find element in spec by name // find element in spec by name
mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) { mjsElement* mjs_findElement(mjSpec* s, mjtObj type, const char* name) {
mjCModel* model = static_cast<mjCModel*>(s->element); mjCModel* model = static_cast<mjCModel*>(s->element);
if (model->IsCompiled()) { if (model->IsCompiled() && type != mjOBJ_FRAME) {
return model->FindObject(type, std::string(name)); // fast lookup return model->FindObject(type, std::string(name)); // fast lookup
} }
switch (type) { switch (type) {
test/user/user_api_test.cc
+3
View File
@@ -1014,6 +1014,9 @@ TEST_F(MujocoTest, AttachDifferent) {
mjModel* m_attached = mj_compile(parent, 0); mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull()); EXPECT_THAT(m_attached, NotNull());
// check frame is present
EXPECT_THAT(mjs_findFrame(parent, "frame"), NotNull());
// check full name stored in mjModel // check full name stored in mjModel
EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 2), "attached-body-1"); EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 2), "attached-body-1");