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Copy attached spec before attaching anything else.

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Spec were copied after bodies are attached, so the reference to the source spec got lost during mj_copySpec().

PiperOrigin-RevId: 701287267
Change-Id: I55eff53c7ae9d42b03957be48ea506b80d274e03
This commit is contained in:
Alessio Quaglino
2024-11-29 07:40:44 -08:00
committed by Copybara-Service
parent 300450f8b8
commit 82b6dbeb40
2 changed files with 19 additions and 7 deletions
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src/user/user_model.cc
+5 -3
View File
@@ -182,6 +182,11 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
*static_cast<mjCModel_*>(this) = static_cast<const mjCModel_&>(other); *static_cast<mjCModel_*>(this) = static_cast<const mjCModel_&>(other);
*static_cast<mjSpec*>(this) = static_cast<const mjSpec&>(other); *static_cast<mjSpec*>(this) = static_cast<const mjSpec&>(other);
// copy attached specs first so that we can resolve references to them
for (const auto* s : other.specs_) {
specs_.push_back(mj_copySpec(s));
}
// the world copy constructor takes care of copying the tree // the world copy constructor takes care of copying the tree
mjCBody* world = new mjCBody(*other.bodies_[0], this); mjCBody* world = new mjCBody(*other.bodies_[0], this);
bodies_.push_back(world); bodies_.push_back(world);
@@ -398,9 +403,6 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
} }
CopyList(numerics_, other.numerics_); CopyList(numerics_, other.numerics_);
CopyList(texts_, other.texts_); CopyList(texts_, other.texts_);
for (const auto* s : other.specs_) {
specs_.push_back(mj_copySpec(s));
}
} }
CopyList(flexes_, other.flexes_); CopyList(flexes_, other.flexes_);
CopyList(pairs_, other.pairs_); CopyList(pairs_, other.pairs_);
test/user/user_api_test.cc
+14 -4
View File
@@ -1998,16 +1998,22 @@ TEST_F(MujocoTest, ResizeParentKeyframe) {
TEST_F(MujocoTest, DifferentUnitsAllowed) { TEST_F(MujocoTest, DifferentUnitsAllowed) {
mjSpec* child = mj_makeSpec(); mjSpec* child = mj_makeSpec();
child->compiler.degree = 1; child->compiler.degree = 0;
mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), 0); mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), 0);
body->alt.type = mjORIENTATION_EULER; body->alt.type = mjORIENTATION_EULER;
body->alt.euler[0] = 90; body->alt.euler[0] = -mjPI / 2;
mjsGeom* geom = mjs_addGeom(body, 0);
geom->size[0] = 1;
mjsJoint* joint = mjs_addJoint(body, 0);
joint->type = mjJNT_HINGE;
joint->range[0] = -mjPI / 4;
joint->range[1] = mjPI / 4;
mjSpec* parent = mj_makeSpec(); mjSpec* parent = mj_makeSpec();
parent->compiler.degree = 0; parent->compiler.degree = 1;
mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0); mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0);
frame->alt.type = mjORIENTATION_EULER; frame->alt.type = mjORIENTATION_EULER;
frame->alt.euler[0] = -mjPI / 2; frame->alt.euler[0] = 90;
EXPECT_THAT(mjs_attachBody(frame, body, "child-", ""), NotNull()); EXPECT_THAT(mjs_attachBody(frame, body, "child-", ""), NotNull());
mjModel* model = mj_compile(parent, 0); mjModel* model = mj_compile(parent, 0);
@@ -2016,6 +2022,8 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
EXPECT_NEAR(model->body_quat[5], 0, 1e-12); EXPECT_NEAR(model->body_quat[5], 0, 1e-12);
EXPECT_NEAR(model->body_quat[6], 0, 1e-12); EXPECT_NEAR(model->body_quat[6], 0, 1e-12);
EXPECT_NEAR(model->body_quat[7], 0, 1e-12); EXPECT_NEAR(model->body_quat[7], 0, 1e-12);
EXPECT_NEAR(model->jnt_range[0], -mjPI / 4, 1e-7);
EXPECT_NEAR(model->jnt_range[1], mjPI / 4, 1e-7);
mjSpec* copy = mj_copySpec(parent); mjSpec* copy = mj_copySpec(parent);
EXPECT_THAT(copy, NotNull()); EXPECT_THAT(copy, NotNull());
@@ -2030,6 +2038,8 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
EXPECT_NEAR(copy_model->body_quat[1], 0, 1e-12); EXPECT_NEAR(copy_model->body_quat[1], 0, 1e-12);
EXPECT_NEAR(copy_model->body_quat[2], 0, 1e-12); EXPECT_NEAR(copy_model->body_quat[2], 0, 1e-12);
EXPECT_NEAR(copy_model->body_quat[3], 0, 1e-12); EXPECT_NEAR(copy_model->body_quat[3], 0, 1e-12);
EXPECT_NEAR(copy_model->jnt_range[0], -mjPI / 4, 1e-7);
EXPECT_NEAR(copy_model->jnt_range[1], mjPI / 4, 1e-7);
mj_deleteModel(copy_model); mj_deleteModel(copy_model);
mj_deleteSpec(copy); mj_deleteSpec(copy);