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Fix bug in RemoveFromList.

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The function was interpreting that the elements that were expected to be detached contained useful user errors, and therefore it was not detaching them. Also, the function tried to compare the namespace between two models, but the namespace is already fused in the references at detach time.

PiperOrigin-RevId: 651738364
Change-Id: Ifdaa9bd5b658bfd18b544b7138a5c2c56b66e936
This commit is contained in:
Alessio Quaglino
2024-07-12 05:07:02 -07:00
committed by Copybara-Service
parent f1aa52aa9b
commit 6e64dd10e8
3 changed files with 14 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+11 -15
View File
@@ -168,6 +168,7 @@ void mjCModel::CopyList(std::vector<T*>& dest,
candidate->ResolveReferences(this);
} catch (mjCError err) {
// if not present, skip the element
// TODO: do not skip elements that contain user errors
delete candidate;
continue;
}
@@ -256,25 +257,20 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
template <class T>
void mjCModel::RemoveFromList(std::vector<T*>& list, const mjCModel& other) {
void mjCModel::RemoveFromList(std::vector<T*>& list) {
int nlist = (int)list.size();
int removed = 0;
for (int i = 0; i < nlist; i++) {
T* element = list[i];
element->id -= removed;
try {
// check if the element contains an error
element->NameSpace(&other);
element->CopyFromSpec();
element->ResolveReferences(&other);
} catch (mjCError err) {
continue;
}
try {
// check if the element references something that was removed
// TODO: do not remove elements that contain user errors
element->NameSpace(this);
element->CopyFromSpec();
element->ResolveReferences(this);
} catch (mjCError err) {
ids[element->elemtype].erase(element->name);
delete element;
list.erase(list.begin() + i);
nlist--;
@@ -315,12 +311,12 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
ProcessLists(/*checkrepeat=*/false);
// check if we have to remove anything else
RemoveFromList(pairs_, oldmodel);
RemoveFromList(excludes_, oldmodel);
RemoveFromList(tendons_, oldmodel);
RemoveFromList(equalities_, oldmodel);
RemoveFromList(actuators_, oldmodel);
RemoveFromList(sensors_, oldmodel);
RemoveFromList(pairs_);
RemoveFromList(excludes_);
RemoveFromList(tendons_);
RemoveFromList(equalities_);
RemoveFromList(actuators_);
RemoveFromList(sensors_);
// restore to the original state
if (!compiled) {
src/user/user_model.h
+2 -2
View File
@@ -342,8 +342,8 @@ class mjCModel : public mjCModel_, private mjSpec {
template <class T> void CopyList(std::vector<T*>& dest,
const std::vector<T*>& sources);
// delete from list the elements that are compatible with other but not this model
template <class T> void RemoveFromList(std::vector<T*>& list, const mjCModel& other);
// delete from list the elements that cause an error
template <class T> void RemoveFromList(std::vector<T*>& list);
// create mjCBase lists from children lists
void CreateObjectLists();
test/user/testdata/lengthrange.xml
Vendored
+1 -17
View File
@@ -23,22 +23,6 @@
</tendon>
<actuator>
<position name="b00" tendon="b00" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b01" tendon="b01" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b02" tendon="b02" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b03" tendon="b03" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b04" tendon="b04" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b05" tendon="b05" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b06" tendon="b06" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b07" tendon="b07" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b08" tendon="b08" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b09" tendon="b09" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b10" tendon="b10" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b11" tendon="b11" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b12" tendon="b12" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b13" tendon="b13" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b14" tendon="b14" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b15" tendon="b15" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b16" tendon="b16" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b" tendon="b" ctrlrange="0 3" kp="100" dampratio="1"/>
</actuator>
</mujoco>