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Prevent deletion from an attached mjSpec.

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This change disallows calling `mjs_delete` on an mjSpec that has been attached to another mjSpec via `mjs_attach`. Attempting to delete an element from an attached spec will now result in an error. The Python bindings for `mjSpec.delete` have been updated to raise a ValueError when this occurs.

PiperOrigin-RevId: 897266695
Change-Id: Ic0670125a3028191ec50eca890f02b5910ec8b03
This commit is contained in:
Alessio Quaglino
2026-04-09 13:12:40 -07:00
committed by Copybara-Service
parent a744b366fb
commit 6b724616c0
5 changed files with 107 additions and 20 deletions
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python/mujoco/specs.cc
+54 -18
View File
@@ -450,7 +450,9 @@ PYBIND11_MODULE(_specs, m) {
},
py::return_value_policy::reference_internal);
mjSpec.def("delete", [](MjSpec& self, raw::MjsBody& body) {
mjs_delete(self.ptr, body.element);
if (mjs_delete(self.ptr, body.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjSpec.def(
"attach",
@@ -867,7 +869,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSFRAME ====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsFrame& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
@@ -906,7 +910,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSGEOM =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsGeom& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
@@ -937,7 +943,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSJOINT ====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsJoint& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
@@ -968,7 +976,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSSITE =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsSite& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
@@ -1016,7 +1026,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSCAMERA ===================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsCamera& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
@@ -1047,7 +1059,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSLIGHT ====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsLight& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
@@ -1078,7 +1092,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSMATERIAL =================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsMaterial& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjsMaterial.def_property(
"classname",
@@ -1092,7 +1108,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSMESH =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsMesh& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
mjsMesh.def_property(
"classname",
@@ -1452,47 +1470,65 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSFLEX =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsFlex& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSHFIELD ===================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsHField& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSSKIN =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsSkin& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSTEXTURE ==================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsTexture& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSKEY ======================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsKey& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSTEXT =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsText& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSNUMERIC ==================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsNumeric& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSEXCLUDE ==================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsExclude& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSTUPLE ====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsTuple& obj) {
mjs_delete(self.ptr, obj.element);
if (mjs_delete(self.ptr, obj.element) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
});
// ============================= MJSPLUGIN ===================================
python/mujoco/specs_test.py
+15 -1
View File
@@ -979,7 +979,6 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(mesh.plugin.name, 'inst')
self.assertEqual(mesh.plugin.plugin_name, 'mujoco.sdf.torus')
def test_duplicate_name_error(self):
main_xml = """
<mujoco>
@@ -1391,6 +1390,21 @@ class SpecsTest(absltest.TestCase):
with self.assertRaisesRegex(ValueError, 'Frame not found.'):
parent.attach(child4, frame='invalid_frame', prefix='child3-')
def test_delete_from_attached_spec_error(self):
parent = mujoco.MjSpec()
child = mujoco.MjSpec()
body = child.worldbody.add_body(name='child_body')
geom = body.add_geom(name='child_geom')
frame = parent.worldbody.add_frame()
parent.attach(child, frame=frame, prefix='child_')
# Now child spec is attached. Deleting from it should raise ValueError.
with self.assertRaisesRegex(
ValueError, 'Cannot delete element from an attached mjSpec.'
):
child.delete(geom)
def test_attach_valid_child_lists(self):
xml1 = """
<mujoco>