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Resize keyframes also at the start of compilation.

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Previously, it was assumed that attaching was the last operation performed on the mjSpec, so keyframes resulted in the incorrect size. In order to prevent information loss, we now only allow the resize function to expand the keyframe array, since attach should never remove a degree of freedom.

PiperOrigin-RevId: 804917828
Change-Id: Icfacd207ced1c6aac600d514f8d9065ceff2d347
This commit is contained in:
Alessio Quaglino
2025-09-09 08:15:34 -07:00
committed by Copybara-Service
parent 3b738ebb67
commit 9d5063799f
6 changed files with 83 additions and 22 deletions
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test/xml/xml_native_reader_test.cc
+42
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@@ -1925,6 +1925,48 @@ TEST_F(XMLReaderTest, LookupCompilerOptionWithoutSpecCopy) {
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, ResizeKeyframeAfterParsing) {
static constexpr char parent_xml[] = R"(
<mujoco>
<asset>
<model name="child" file="child.xml"/>
</asset>
<worldbody>
<attach model="child" body="world" prefix="child_"/>
<body name="body">
<joint name="joint"/>
<geom size="1"/>
</body>
</worldbody>
<keyframe>
<key name="key" qpos="1"/>
</keyframe>
</mujoco>
)";
static constexpr char child_xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint name="joint"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "child.xml", child_xml, sizeof(child_xml));
std::array<char, 1024> error;
mjModel* m =
LoadModelFromString(parent_xml, error.data(), error.size(), vfs.get());
EXPECT_THAT(m, NotNull()) << error.data();
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
// ----------------------- test camera parsing ---------------------------------
TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {