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Raise error when binding to a removed element.

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PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
This commit is contained in:
Alessio Quaglino
2025-06-22 10:14:40 -07:00
committed by Copybara-Service
parent 419cdf1ff3
commit a00bfa819c
9 changed files with 19 additions and 77 deletions
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doc/APIreference/functions.rst
-9
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@@ -3783,15 +3783,6 @@ Attachment
Attach child to a parent, return the attached element if success or NULL otherwise.
.. _mjs_detach:
`mjs_detach <#mjs_detach>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_detach
Detach but not delete object corresponding to the given element, return 0 on success.
.. _AddTreeElements:
Tree elements
doc/includes/references.h
-1
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@@ -3411,7 +3411,6 @@ void mju_defaultTask(mjTask* task);
void mju_taskJoin(mjTask* task);
mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
const char* prefix, const char* suffix);
int mjs_detach(mjSpec* spec, mjsElement* element);
mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
include/mujoco/mujoco.h
+1 -3
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@@ -1411,8 +1411,6 @@ MJAPI void mju_taskJoin(mjTask* task);
MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
const char* prefix, const char* suffix);
// Detach but not delete object corresponding to the given element, return 0 on success.
MJAPI int mjs_detach(mjSpec* spec, mjsElement* element);
//---------------------------------- Tree elements -------------------------------------------------
@@ -1440,7 +1438,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
// Add frame to body.
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
// Delete object corresponding to the given element, return 0 on success.
// Detach but not delete object corresponding to the given element, return 0 on success.
MJAPI int mjs_delete(mjSpec* spec, mjsElement* element);
mjx/mujoco/mjx/_src/support_test.py
+13
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@@ -379,6 +379,19 @@ class SupportTest(parameterized.TestCase):
' 15297169659434471387 != 2785811613804955188',
)
# what happens when we bind to an actuator that was removed?
bygone_actuators = []
for act in s.actuators:
bygone_actuators.append(act)
s.delete(act)
m = s.compile()
d = mujoco.MjData(m)
mx = mjx.put_model(m)
dx = mjx.put_data(m, d)
dx = mjx.step(mx, dx)
with self.assertRaisesRegex(KeyError, 'invalid id: -1'):
dx.bind(mx, bygone_actuators)
_CONTACTS = """
<mujoco>
<worldbody>
python/mujoco/introspect/functions.py
+1 -21
View File
@@ -8987,26 +8987,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Attach child to a parent, return the attached element if success or NULL otherwise.', # pylint: disable=line-too-long
)),
('mjs_detach',
FunctionDecl(
name='mjs_detach',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='spec',
type=PointerType(
inner_type=ValueType(name='mjSpec'),
),
),
FunctionParameterDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
),
),
doc='Detach but not delete object corresponding to the given element, return 0 on success.', # pylint: disable=line-too-long
)),
('mjs_addBody',
FunctionDecl(
name='mjs_addBody',
@@ -9195,7 +9175,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc='Delete object corresponding to the given element, return 0 on success.', # pylint: disable=line-too-long
doc='Detach but not delete object corresponding to the given element, return 0 on success.', # pylint: disable=line-too-long
)),
('mjs_addActuator',
FunctionDecl(
src/user/user_api.cc
+2 -25
View File
@@ -341,28 +341,6 @@ int mj_copyBack(mjSpec* s, const mjModel* m) {
// detach body from mjSpec, return 0 on success
int mjs_detach(mjSpec* s, mjsElement* element) {
mjCModel* model = static_cast<mjCModel*>(s->element);
if (!element) {
model->SetError(mjCError(0, "Element is null."));
return -1;
}
try {
if (element->elemtype == mjOBJ_DEFAULT) {
throw mjCError(0, "Detach is not implemented for defaults.");
} else {
*model -= element;
}
return 0;
} catch (mjCError& e) {
model->SetError(e);
return -1;
}
}
// delete object, return 0 on success
int mjs_delete(mjSpec* s, mjsElement* element) {
mjCModel* model = static_cast<mjCModel*>(s->element);
if (!element) {
@@ -374,8 +352,7 @@ int mjs_delete(mjSpec* s, mjsElement* element) {
mjCDef* def = static_cast<mjCDef*>(element);
*model -= *def;
} else {
mjs_detach(s, element);
model->DeleteElement(element);
*model -= element;
}
return 0;
} catch (mjCError& e) {
@@ -1031,7 +1008,7 @@ const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* s
mjsFrame* mjs_bodyToFrame(mjsBody** body) {
mjCBody* bodyC = static_cast<mjCBody*>((*body)->element);
mjCFrame* frameC = bodyC->ToFrame();
bodyC->model->DeleteElement((*body)->element);
*bodyC->model -= (*body)->element;
*body = nullptr;
return &frameC->spec;
}
src/user/user_api.h
+1 -3
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@@ -76,8 +76,6 @@ MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
const char* prefix, const char* suffix);
// Detach but not delete object corresponding to the given element, return 0 on success.
MJAPI int mjs_detach(mjSpec* s, mjsElement* element);
//---------------------------------- Add tree elements ---------------------------------------------
@@ -105,7 +103,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
// Add frame to body.
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
// Delete object corresponding to the given element, return 0 on success.
// Detach but not delete object corresponding to the given element, return 0 on success.
MJAPI int mjs_delete(mjSpec* s, mjsElement* element);
src/user/user_model.cc
+1 -12
View File
@@ -746,7 +746,6 @@ void mjCModel::DeleteSubtreePlugin(mjCBody* subtree) {
mjsPlugin* plugin = &(subtree->spec.plugin);
if (plugin->active && plugin->name->empty()) {
*this -= plugin->element;
detached_.push_back(static_cast<mjCBase*>(plugin->element));
}
for (auto* body : subtree->Bodies()) {
DeleteSubtreePlugin(body);
@@ -755,13 +754,6 @@ void mjCModel::DeleteSubtreePlugin(mjCBody* subtree) {
// delete an object from the model
void mjCModel::DeleteElement(mjsElement* el) {
static_cast<mjCBase*>(el)->Release();
}
// remove the element from the model
void mjCModel::operator-=(mjsElement* el) {
if (el->elemtype == mjOBJ_BODY) {
@@ -769,6 +761,7 @@ void mjCModel::operator-=(mjsElement* el) {
*this -= *body;
}
detached_.push_back(static_cast<mjCBase*>(el));
ResetTreeLists();
if (el->elemtype != mjOBJ_DEFAULT) {
@@ -800,7 +793,6 @@ void mjCModel::operator-=(mjsElement* el) {
mjCGeom* geom = static_cast<mjCGeom*>(el);
if (geom->plugin.active && geom->plugin.name->empty()) {
*this -= geom->plugin.element;
detached_.push_back(static_cast<mjCBase*>(geom->plugin.element));
}
deletefromlist(&(geom->body->geoms), el);
break;
@@ -827,7 +819,6 @@ void mjCModel::operator-=(mjsElement* el) {
mjCMesh* mesh = static_cast<mjCMesh*>(el);
if (mesh->plugin.active && mesh->plugin.name->empty()) {
*this -= mesh->plugin.element;
detached_.push_back(static_cast<mjCBase*>(mesh->plugin.element));
}
deletefromlist(object_lists_[mjOBJ_MESH], el);
break;
@@ -838,7 +829,6 @@ void mjCModel::operator-=(mjsElement* el) {
mjCActuator* actuator = static_cast<mjCActuator*>(el);
if (actuator->plugin.active && actuator->plugin.name->empty()) {
*this -= actuator->plugin.element;
detached_.push_back(static_cast<mjCBase*>(actuator->plugin.element));
}
deletefromlist(object_lists_[mjOBJ_ACTUATOR], el);
break;
@@ -849,7 +839,6 @@ void mjCModel::operator-=(mjsElement* el) {
mjCSensor* sensor = static_cast<mjCSensor*>(el);
if (sensor->plugin.active && sensor->plugin.name->empty()) {
*this -= sensor->plugin.element;
detached_.push_back(static_cast<mjCBase*>(sensor->plugin.element));
}
deletefromlist(object_lists_[mjOBJ_SENSOR], el);
break;
src/user/user_model.h
-3
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@@ -229,9 +229,6 @@ class mjCModel : public mjCModel_, private mjSpec {
// delete object from the corresponding list
void operator-=(mjsElement* el);
// delete object
void DeleteElement(mjsElement* el);
// delete default and all descendants
void RemoveDefault(mjCDef* def);