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Clear body subtreedofs when compiling. Fixes issue when attaching previously compiled model.

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PiperOrigin-RevId: 738906593
Change-Id: I74875b4d07c422e397358dff5daf6682ec1bd655
This commit is contained in:
Tom Power
2025-03-20 12:51:33 -07:00
committed by Copybara-Service
parent 2e11afa2de
commit 8d92a0fbe6
2 changed files with 60 additions and 3 deletions
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test/user/user_api_test.cc
+55
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@@ -1220,6 +1220,61 @@ TEST_F(MujocoTest, AttachFrame) {
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachCompiled) {
std::array<char, 1000> er;
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<geom name="floor" pos="0 0 0" size="0 0 0.05" type="plane"/>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="base">
<freejoint/>
<geom name="geom1" size="0.1" type="sphere"/>
</body>
</worldbody>
</mujoco>)";
// load parent
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
// load child
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// compile child
mjModel* m_child = mj_compile(child, 0);
EXPECT_THAT(m_child, NotNull()) << mjs_getError(child);
// add frame to the parent to attach
mjsBody* world = mjs_findBody(parent, "world");
EXPECT_THAT(world, NotNull()) << mjs_getError(parent);
mjsFrame* frame = mjs_addFrame(world, 0);
EXPECT_THAT(frame, NotNull()) << mjs_getError(parent);
// attach child body to the frame
mjsBody* to_attach = mjs_findBody(child, "base");
EXPECT_THAT(to_attach, NotNull()) << mjs_getError(child);
mjs_attachBody(frame, to_attach, "", "");
// check that attached model can be compiled
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull()) <<
"Failed to compile attached model" << mjs_getError(parent);
// destroy everything
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_child);
}
void TestDetachBody(bool compile) {
std::array<char, 1000> er;
mjtNum tol = 0;