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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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test/user/user_api_test.cc
+30
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@@ -173,6 +173,36 @@ TEST_F(MujocoTest, TreeTraversal) {
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, AttachAndChildDeletion) {
mjSpec* child_spec = mj_makeSpec();
mjsBody* child_world = mjs_findBody(child_spec, "world");
mjsBody* child_body = mjs_addBody(child_world, 0);
mjsJoint* freejoint = mjs_addJoint(child_body, 0);
freejoint->type = mjJNT_FREE;
mjs_setName(freejoint->element, "child_freejoint");
mjSpec* parent_spec = mj_makeSpec();
mjsBody* parent_world = mjs_findBody(parent_spec, "world");
mjsBody* parent_body = mjs_addBody(parent_world, 0);
// Attach child spec to parent_body
mjsElement* attached =
mjs_attach(parent_body->element, child_spec->element, "pre_", "");
ASSERT_THAT(attached, NotNull());
// Delete freejoint from child_spec, should fail because it is attached
int result = mjs_delete(child_spec, freejoint->element);
EXPECT_EQ(result, -1);
// The freejoint should still be in parent_spec because deletion failed
mjsElement* found_joint =
mjs_findElement(parent_spec, mjOBJ_JOINT, "pre_child_freejoint");
EXPECT_THAT(found_joint, NotNull());
mj_deleteSpec(child_spec);
mj_deleteSpec(parent_spec);
}
TEST_F(MujocoTest, ActivatePlugin) {
mjSpec* spec = mj_makeSpec();
mjs_activatePlugin(spec, "mujoco.elasticity.cable");