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Catch errors in attach during replicate.

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PiperOrigin-RevId: 651041336
Change-Id: I59986e157b4e22c74f8b8493899cdd4a3d5df839
This commit is contained in:
Alessio Quaglino
2024-07-10 09:03:13 -07:00
committed by Copybara-Service
parent b483ce608e
commit 7f9f8b5429
3 changed files with 52 additions and 3 deletions
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src/user/user_api.cc
+10 -2
View File
@@ -98,7 +98,11 @@ int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
const char* prefix, const char* suffix) {
mjCFrame* frame_parent = static_cast<mjCFrame*>(parent->element);
mjCBody* child_body = static_cast<mjCBody*>(child->element);
*frame_parent += std::string(prefix) + *child_body + std::string(suffix);
try {
*frame_parent += std::string(prefix) + *child_body + std::string(suffix);
} catch (mjCError& e) {
return -1;
}
return 0;
}
@@ -109,7 +113,11 @@ int mjs_attachFrame(mjsBody* parent, const mjsFrame* child,
const char* prefix, const char* suffix) {
mjCBody* body_parent = static_cast<mjCBody*>(parent->element);
mjCFrame* child_frame = static_cast<mjCFrame*>(child->element);
*body_parent += std::string(prefix) + *child_frame + std::string(suffix);
try {
*body_parent += std::string(prefix) + *child_frame + std::string(suffix);
} catch (mjCError& e) {
return -1;
}
return 0;
}
src/xml/xml_native_reader.cc
+3 -1
View File
@@ -3437,7 +3437,9 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
Body(elem, subtree, pframe);
// attach to parent
mjs_attachFrame(pbody, pframe, /*prefix=*/"", suffix.c_str());
if (mjs_attachFrame(pbody, pframe, /*prefix=*/"", suffix.c_str()) < 0) {
throw mjXError(elem, "failed to attach frame");
}
}
// delete subtree
test/xml/xml_native_reader_test.cc
+39
View File
@@ -1217,6 +1217,45 @@ TEST_F(XMLReaderTest, ParseReplicateDefaultPropagate) {
mj_deleteSpec(spec);
}
TEST_F(XMLReaderTest, ParseReplicateRepeatedName) {
static constexpr char xml[] = R"(
<mujoco>
<compiler>
<lengthrange mode="all"/>
</compiler>
<worldbody>
<light pos="0 0 10"/>
<replicate offset="0 .1 0" count="2">
<site name="a" size=".02"/>
<body pos="1 0 1">
<joint axis="0 -1 0" range="0 90"/>
<geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
<site name="b" pos="0 0 -1"/>
</body>
</replicate>
</worldbody>
<tendon>
<spatial name="b">
<site site="a"/>
<site site="b"/>
</spatial>
</tendon>
<actuator>
<position name="b" tendon="b0" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b" tendon="b1" ctrlrange="0 3" kp="100" dampratio="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, IsNull()) << error.data();
EXPECT_THAT(error.data(), HasSubstr("failed to attach frame"));
}
// ----------------------- test camera parsing ---------------------------------
TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {