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Prevent duplicated pairs in active_pugins vector.

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Fixes #2150

PiperOrigin-RevId: 688164615
Change-Id: I9a5434a9dda28a399ffccfe0c4b31fa64400b85f
This commit is contained in:
Alessio Quaglino
2024-10-21 09:28:06 -07:00
committed by Copybara-Service
parent 90bc4b555d
commit a70aea918c
2 changed files with 54 additions and 2 deletions
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src/user/user_model.cc
+21 -2
View File
@@ -304,6 +304,8 @@ void mjCModel::SaveDofOffsets(bool computesize) {
}
}
template <class T>
void mjCModel::CopyPlugin(std::vector<mjCPlugin*>& dest,
const std::vector<mjCPlugin*>& source,
@@ -336,6 +338,21 @@ void mjCModel::CopyPlugin(std::vector<mjCPlugin*>& dest,
}
}
// return true if the plugin is already in the list of active plugins
static bool IsPluginActive(
const mjpPlugin* plugin,
const std::vector<std::pair<const mjpPlugin*, int>>& active_plugins) {
return std::find_if(
active_plugins.begin(), active_plugins.end(),
[&plugin](const std::pair<const mjpPlugin*, int>& element) {
return element.first == plugin;
}) != active_plugins.end();
}
mjCModel& mjCModel::operator+=(const mjCModel& other) {
// TODO: use compiler settings stored in specs_ during compilation
std::string msg = "cannot attach mjSpecs with incompatible compiler/";
@@ -387,8 +404,10 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
CopyPlugin(plugins_, other.plugins_, meshes_);
CopyPlugin(plugins_, other.plugins_, actuators_);
CopyPlugin(plugins_, other.plugins_, sensors_);
for (const auto& active_plugin : other.active_plugins_) {
active_plugins_.emplace_back(active_plugin);
for (const auto& [plugin, slot] : other.active_plugins_) {
if (!IsPluginActive(plugin, active_plugins_)) {
active_plugins_.emplace_back(std::make_pair(plugin, slot));
}
}
// restore to the original state
test/user/user_api_test.cc
+33
View File
@@ -293,6 +293,39 @@ TEST_F(PluginTest, AttachPlugin) {
mj_deleteSpec(spec_2);
}
TEST_F(PluginTest, ReplicatePlugin) {
static constexpr char xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.sdf.torus">
<instance name="torus" />
</plugin>
</extension>
<asset>
<mesh name="torus">
<plugin instance="torus" />
</mesh>
</asset>
<worldbody>
<geom type="sdf" mesh="torus">
<plugin instance="torus" />
</geom>
<replicate count="100">
<body />
</replicate>
</worldbody>
</mujoco>)";
std::array<char, 1000> err;
mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
ASSERT_THAT(spec, NotNull()) << err.data();
mjModel* model = mj_compile(spec, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(MujocoTest, RecompileFails) {
mjSpec* spec = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);