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Do not namespace empty actuator strings during attach.

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Fixes #2233.

PiperOrigin-RevId: 698070772
Change-Id: I19613acfd407ba6a8ede40dad85324a70db480a8
This commit is contained in:
Alessio Quaglino
2024-11-19 10:41:15 -08:00
committed by Copybara-Service
parent e18567545b
commit 821f1d3f98
2 changed files with 38 additions and 16 deletions
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src/user/user_objects.cc
+18 -6
View File
@@ -5031,8 +5031,12 @@ void mjCEquality::PointToLocal() {
void mjCEquality::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
spec_name1_ = m->prefix + spec_name1_ + m->suffix;
spec_name2_ = m->prefix + spec_name2_ + m->suffix;
if (!spec_name1_.empty()) {
spec_name1_ = m->prefix + spec_name1_ + m->suffix;
}
if (!spec_name2_.empty()) {
spec_name2_ = m->prefix + spec_name2_ + m->suffix;
}
}
@@ -5526,7 +5530,9 @@ void mjCWrap::PointToLocal() {
void mjCWrap::NameSpace(const mjCModel* m) {
name = m->prefix + name + m->suffix;
sidesite = m->prefix + sidesite + m->suffix;
if (!sidesite.empty()) {
sidesite = m->prefix + sidesite + m->suffix;
}
}
@@ -5724,9 +5730,15 @@ void mjCActuator::NameSpace(const mjCModel* m) {
if (!plugin_instance_name.empty()) {
plugin_instance_name = m->prefix + plugin_instance_name + m->suffix;
}
spec_target_ = m->prefix + spec_target_ + m->suffix;
spec_refsite_ = m->prefix + spec_refsite_ + m->suffix;
spec_slidersite_ = m->prefix + spec_slidersite_ + m->suffix;
if (!spec_target_.empty()) {
spec_target_ = m->prefix + spec_target_ + m->suffix;
}
if (!spec_refsite_.empty()) {
spec_refsite_ = m->prefix + spec_refsite_ + m->suffix;
}
if (!spec_slidersite_.empty()) {
spec_slidersite_ = m->prefix + spec_slidersite_ + m->suffix;
}
}
test/user/user_api_test.cc
+20 -10
View File
@@ -731,6 +731,7 @@ static constexpr char xml_child[] = R"(
<joint type="hinge" name="hinge"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="targetbody"/>
<site name="site"/>
<body name="targetbody"/>
<body/>
</body>
@@ -757,6 +758,7 @@ static constexpr char xml_child[] = R"(
<actuator>
<position name="hinge" joint="hinge" timeconst=".01"/>
<position name="fixed" tendon="fixed" timeconst=".01"/>
<position name="site" site="site" timeconst=".01"/>
</actuator>
<contact>
@@ -764,8 +766,8 @@ static constexpr char xml_child[] = R"(
</contact>
<keyframe>
<key name="two" time="2" qpos="2 22" act="2 2" ctrl="2 2"/>
<key name="three" time="3" qpos="3 33" act="3 3" ctrl="3 3"/>
<key name="two" time="2" qpos="2 22" act="1 2 3" ctrl="1 2 3"/>
<key name="three" time="3" qpos="3 33" act="4 5 6" ctrl="4 5 6"/>
</keyframe>
</mujoco>)";
@@ -796,6 +798,7 @@ TEST_F(MujocoTest, AttachSame) {
<joint type="hinge" name="hinge"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="targetbody"/>
<site name="site"/>
<body name="targetbody"/>
<body/>
</body>
@@ -808,6 +811,7 @@ TEST_F(MujocoTest, AttachSame) {
<joint type="hinge" name="attached-hinge-1"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<site name="attached-site-1"/>
<body name="attached-targetbody-1"/>
<body/>
</body>
@@ -832,8 +836,10 @@ TEST_F(MujocoTest, AttachSame) {
<actuator>
<position name="hinge" joint="hinge" timeconst=".01"/>
<position name="fixed" tendon="fixed" timeconst=".01"/>
<position name="site" site="site" timeconst=".01"/>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
<position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
</actuator>
<contact>
@@ -842,10 +848,10 @@ TEST_F(MujocoTest, AttachSame) {
</contact>
<keyframe>
<key name="two" time="2" qpos="2 22 0" act="2 2 0 0" ctrl="2 2 0 0"/>
<key name="three" time="3" qpos="3 33 0" act="3 3 0 0" ctrl="3 3 0 0"/>
<key name="attached-two-1" time="2" qpos="0 22 2" act="0 0 2 2" ctrl="0 0 2 2"/>
<key name="attached-three-1" time="3" qpos="0 33 3" act="0 0 3 3" ctrl="0 0 3 3"/>
<key name="two" time="2" qpos="2 22 0" act="1 2 3 0 0 0" ctrl="1 2 3 0 0 0"/>
<key name="three" time="3" qpos="3 33 0" act="4 5 6 0 0 0" ctrl="4 5 6 0 0 0"/>
<key name="attached-two-1" time="2" qpos="0 22 2" act="0 0 0 1 2 3" ctrl="0 0 0 1 2 3"/>
<key name="attached-three-1" time="3" qpos="0 33 3" act="0 0 0 4 5 6" ctrl="0 0 0 4 5 6"/>
</keyframe>
</mujoco>)";
@@ -946,6 +952,7 @@ TEST_F(MujocoTest, AttachDifferent) {
<joint type="hinge" name="attached-hinge-1"/>
<geom class="attached-cylinder-1" material="attached-material-1"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<site name="attached-site-1"/>
<body name="attached-targetbody-1"/>
<body/>
</body>
@@ -966,6 +973,7 @@ TEST_F(MujocoTest, AttachDifferent) {
<actuator>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
<position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
</actuator>
<contact>
@@ -974,8 +982,8 @@ TEST_F(MujocoTest, AttachDifferent) {
<keyframe>
<key name="one" time="1" qpos="1 1 1 1 0 0 0 0"/>
<key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="2 2" ctrl="2 2"/>
<key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="3 3" ctrl="3 3"/>
<key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="1 2 3" ctrl="1 2 3"/>
<key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="4 5 6" ctrl="4 5 6"/>
</keyframe>
</mujoco>)";
@@ -1079,6 +1087,7 @@ TEST_F(MujocoTest, AttachFrame) {
<joint type="hinge" name="attached-hinge-1"/>
<geom class="attached-cylinder-1" material="attached-material-1"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<site name="attached-site-1"/>
<body name="attached-targetbody-1"/>
<body/>
</body>
@@ -1100,6 +1109,7 @@ TEST_F(MujocoTest, AttachFrame) {
<actuator>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
<position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
</actuator>
<contact>
@@ -1108,8 +1118,8 @@ TEST_F(MujocoTest, AttachFrame) {
<keyframe>
<key name="one" time="1" qpos="1 1 1 1 0 0 0 0"/>
<key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="2 2" ctrl="2 2"/>
<key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="3 3" ctrl="3 3"/>
<key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="1 2 3" ctrl="1 2 3"/>
<key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="4 5 6" ctrl="4 5 6"/>
</keyframe>
</mujoco>)";