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Add checks for contact sensor when constructing with mjSpec Python bindings.

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PiperOrigin-RevId: 788008233
Change-Id: I14518b8cce1a7dad4fd24933478e0cc1bb75e350
This commit is contained in:
Yuval Tassa
2025-07-28 07:49:44 -07:00
committed by Copybara-Service
parent 8db2413c84
commit 9e7979e492
2 changed files with 178 additions and 35 deletions
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src/user/user_objects.cc
+55 -35
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@@ -7088,47 +7088,67 @@ void mjCSensor::Compile(void) {
break;
case mjSENS_CONTACT:
// check first matching criterion
if (objtype != mjOBJ_SITE &&
objtype != mjOBJ_BODY &&
objtype != mjOBJ_XBODY &&
objtype != mjOBJ_GEOM &&
objtype != mjOBJ_UNKNOWN) {
throw mjCError(this, "first matching criterion: if set, must be (x)body, geom or site");
}
{
// check first matching criterion
if (objtype != mjOBJ_SITE &&
objtype != mjOBJ_BODY &&
objtype != mjOBJ_XBODY &&
objtype != mjOBJ_GEOM &&
objtype != mjOBJ_UNKNOWN) {
throw mjCError(this, "first matching criterion: if set, must be (x)body, geom or site");
}
// check that subtree1 is a full tree
if (objtype == mjOBJ_XBODY && static_cast<mjCBody*>(obj)->GetParent()->id != 0) {
throw mjCError(this, "subtree1 must be a child of the world");
}
// check that subtree1 is a full tree
if (objtype == mjOBJ_XBODY && static_cast<mjCBody*>(obj)->GetParent()->id != 0) {
throw mjCError(this, "subtree1 must be a child of the world");
}
// check second matching criterion
if (reftype != mjOBJ_BODY &&
reftype != mjOBJ_XBODY &&
reftype != mjOBJ_GEOM &&
reftype != mjOBJ_UNKNOWN) {
throw mjCError(this, "second matching criterion: if set, must be (x)body or geom");
}
// check second matching criterion
if (reftype != mjOBJ_BODY &&
reftype != mjOBJ_XBODY &&
reftype != mjOBJ_GEOM &&
reftype != mjOBJ_UNKNOWN) {
throw mjCError(this, "second matching criterion: if set, must be (x)body or geom");
}
// check that subtree2 is a full tree
if (reftype == mjOBJ_XBODY && static_cast<mjCBody*>(ref)->GetParent()->id != 0) {
throw mjCError(this, "subtree2 must be a child of the world");
}
// check that subtree2 is a full tree
if (reftype == mjOBJ_XBODY && static_cast<mjCBody*>(ref)->GetParent()->id != 0) {
throw mjCError(this, "subtree2 must be a child of the world");
}
// check for non-positive dim
if (dim <= 0) {
throw mjCError(this, "dim must be positive in sensor (got %d)", "", dim);
}
// check for non-positive dim
if (dim <= 0) {
throw mjCError(this, "dim must be positive in sensor, got %d", nullptr, dim);
}
// check for dim correctness
if (dim % mju_condataSize(intprm[0]) != 0) {
throw mjCError(this, "dim %d does not match data spec", "", dim);
}
// check for dataspec correctness
int dataspec = intprm[0];
if (dataspec <= 0) {
throw mjCError(this, "data spec (intprm[0]) must be positive, got %d", nullptr, dataspec);
}
int mask = (1 << mjNCONDATA) - 1;
if (!(dataspec & mask)) {
throw mjCError(this, "data spec intprm[0]=%d must have at least one bit set of the first "
"mjNCONDATA bits", nullptr, dataspec);
}
if (dataspec & ~mask) {
throw mjCError(this, "data spec intprm[0]=%d has bits set beyond the first "
"mjNCONDATA bits", nullptr, dataspec);
}
// check for reduce correctness
if (intprm[1] < 0 || intprm[1] > 3) {
throw mjCError(this, "unknown reduction criterion. got %d, "
"expected one of {0, 1, 2, 3}", "", intprm[1]);
// check for dim correctness
int size = mju_condataSize(dataspec);
if (dim % size != 0) {
throw mjCError(this, "dim %d not divisible by size %d implied by data spec (intprm[0])",
nullptr, dim, size);
}
// check for reduce correctness
int reduce = intprm[1];
if (reduce < 0 || reduce > 3) {
throw mjCError(this, "unknown reduction criterion. got %d, "
"expected one of {0, 1, 2, 3}", nullptr, reduce);
}
}
needstage = mjSTAGE_ACC;