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Add error checking in mjs_setFrame.

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Also raise error if the frame is not found in the mjCBody copy constructor.

Fixes #2543.

PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
This commit is contained in:
Alessio Quaglino
2025-04-01 03:33:54 -07:00
committed by Copybara-Service
parent ebd30493c8
commit 86c970bc23
11 changed files with 125 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/introspect/functions.py
+2 -2
View File
@@ -10423,7 +10423,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
('mjs_setFrame',
FunctionDecl(
name='mjs_setFrame',
return_type=ValueType(name='void'),
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='dest',
@@ -10438,7 +10438,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc="Set element's enclosing frame.",
doc="Set element's enclosing frame, return 0 on success.",
)),
('mjs_resolveOrientation',
FunctionDecl(
python/mujoco/specs.cc
+26 -11
View File
@@ -564,7 +564,9 @@ PYBIND11_MODULE(_specs, m) {
if (!attached_frame) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
mjs_setFrame(attached_frame->element, frame_ptr);
if (mjs_setFrame(attached_frame->element, frame_ptr) != 0) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
}
if (site.has_value()) {
raw::MjsSite* site_ptr = nullptr;
@@ -637,10 +639,11 @@ PYBIND11_MODULE(_specs, m) {
return out;
},
py::return_value_policy::reference_internal);
mjsBody.def("set_frame",
[](raw::MjsBody& self, raw::MjsFrame& frame) -> void {
mjs_setFrame(self.element, &frame);
});
mjsBody.def("set_frame", [](raw::MjsBody& self, raw::MjsFrame& frame) {
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
});
mjsBody.def_property(
"classname",
[](raw::MjsBody& self) -> raw::MjsDefault* {
@@ -850,7 +853,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSFRAME ====================================
mjsFrame.def("delete", [](raw::MjsFrame& self) { mjs_delete(self.element); });
mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
});
mjsFrame.def_property_readonly(
"parent",
@@ -879,7 +884,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSGEOM =====================================
mjsGeom.def("delete", [](raw::MjsGeom& self) { mjs_delete(self.element); });
mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
});
mjsGeom.def_property_readonly(
"parent",
@@ -899,7 +906,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSJOINT ====================================
mjsJoint.def("delete", [](raw::MjsJoint& self) { mjs_delete(self.element); });
mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
});
mjsJoint.def_property_readonly(
"parent",
@@ -919,7 +928,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSSITE =====================================
mjsSite.def("delete", [](raw::MjsSite& self) { mjs_delete(self.element); });
mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
});
mjsSite.def_property_readonly(
"parent",
@@ -957,7 +968,9 @@ PYBIND11_MODULE(_specs, m) {
mjsCamera.def("delete",
[](raw::MjsCamera& self) { mjs_delete(self.element); });
mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
});
mjsCamera.def_property_readonly(
"parent",
@@ -977,7 +990,9 @@ PYBIND11_MODULE(_specs, m) {
// ============================= MJSLIGHT ====================================
mjsLight.def("delete", [](raw::MjsLight& self) { mjs_delete(self.element); });
mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
mjs_setFrame(self.element, &frame);
if (mjs_setFrame(self.element, &frame) != 0) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
}
});
mjsLight.def_property_readonly(
"parent",