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Fix a bug in MuJoCo's user_mesh.cc that caused meshdir_ to be overwritten when a model was loaded with a nested model.

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PiperOrigin-RevId: 675092713
Change-Id: Iad6336141749510bf5544cab9c06533ee1589c08
This commit is contained in:
Alessio Quaglino
2024-09-16 04:21:11 -07:00
committed by Copybara-Service
parent fd17b2144a
commit c77babe046
5 changed files with 116 additions and 9 deletions
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src/user/user_mesh.cc
+12 -4
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@@ -222,8 +222,12 @@ void mjCMesh::PointToLocal() {
void mjCMesh::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
modelfiledir_ = FilePath(m->spec_modelfiledir_);
meshdir_ = FilePath(m->spec_meshdir_);
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(m->spec_modelfiledir_);
}
if (meshdir_.empty()) {
meshdir_ = FilePath(m->spec_meshdir_);
}
}
@@ -2034,8 +2038,12 @@ void mjCSkin::NameSpace(const mjCModel* m) {
for (auto& name : spec_bodyname_) {
name = m->prefix + name + m->suffix;
}
modelfiledir_ = FilePath(m->spec_modelfiledir_);
meshdir_ = FilePath(m->spec_meshdir_);
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(m->spec_modelfiledir_);
}
if (meshdir_.empty()) {
meshdir_ = FilePath(m->spec_meshdir_);
}
}
src/user/user_model.cc
+1
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@@ -607,6 +607,7 @@ mjCModel::~mjCModel() {
for (int i=0; i<tuples_.size(); i++) delete tuples_[i];
for (int i=0; i<keys_.size(); i++) delete keys_[i];
for (int i=0; i<defaults_.size(); i++) delete defaults_[i];
for (int i=0; i<specs_.size(); i++) mj_deleteSpec(specs_[i]);
if (plugin_owner) {
for (int i=0; i<plugins_.size(); i++) delete plugins_[i];
src/user/user_objects.cc
+12 -4
View File
@@ -3405,8 +3405,12 @@ void mjCHField::CopyFromSpec() {
void mjCHField::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
modelfiledir_ = FilePath(m->spec_modelfiledir_);
meshdir_ = FilePath(m->spec_meshdir_);
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(m->spec_modelfiledir_);
}
if (meshdir_.empty()) {
meshdir_ = FilePath(m->spec_meshdir_);
}
}
@@ -3650,8 +3654,12 @@ void mjCTexture::CopyFromSpec() {
void mjCTexture::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
modelfiledir_ = FilePath(m->spec_modelfiledir_);
texturedir_ = FilePath(m->spec_texturedir_);
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(m->spec_modelfiledir_);
}
if (texturedir_.empty()) {
texturedir_ = FilePath(m->spec_texturedir_);
}
}
src/xml/xml_native_reader.cc
-1
View File
@@ -3645,7 +3645,6 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
throw mjXError(0, "could not find body '%s''%s'", body_name.c_str());
}
if (mjs_attachBody(pframe, child, prefix.c_str(), "") != 0) {
mj_deleteSpec(asset);
throw mjXError(elem, mjs_getError(spec));
}
} else {
test/user/user_model_test.cc
+91
View File
@@ -545,5 +545,96 @@ TEST_F(MujocoTest, Modeldir) {
mj_deleteVFS(vfs.get());
}
TEST_F(MujocoTest, NestedMeshDir) {
static constexpr char cube[] = R"(
v -1 -1 1
v 1 -1 1
v -1 1 1
v 1 1 1
v -1 1 -1
v 1 1 -1
v -1 -1 -1
v 1 -1 -1)";
static constexpr char child_xml[] = R"(
<mujoco>
<compiler meshdir="child_meshdir"/>
<asset>
<mesh name="m" file="child_mesh.obj"/>
</asset>
<worldbody>
<body name="child">
<geom type="mesh" mesh="m"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char parent_xml[] = R"(
<mujoco>
<compiler meshdir="parent_meshdir"/>
<asset>
<mesh name="m" file="parent_mesh.obj"/>
<model name="child" file="child.xml"/>
</asset>
<worldbody>
<body name="parent">
<geom type="mesh" mesh="m"/>
<attach model="child" body="child" prefix="child_"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char grandparent_xml[] = R"(
<mujoco>
<compiler meshdir="grandparent_meshdir"/>
<asset>
<mesh name="m" file="grandparent_mesh.obj"/>
<model name="parent" file="parent.xml"/>
</asset>
<worldbody>
<geom type="mesh" mesh="m"/>
<attach model="parent" body="parent" prefix="parent_"/>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "child_meshdir/child_mesh.obj", cube,
sizeof(cube));
mj_addBufferVFS(vfs.get(), "child.xml", child_xml, sizeof(child_xml));
mj_addBufferVFS(vfs.get(), "parent_meshdir/parent_mesh.obj", cube,
sizeof(cube));
mj_addBufferVFS(vfs.get(), "parent.xml", parent_xml, sizeof(parent_xml));
mj_addBufferVFS(vfs.get(), "grandparent_meshdir/grandparent_mesh.obj", cube,
sizeof(cube));
std::array<char, 1024> error;
mjModel* child_model = LoadModelFromString(child_xml, error.data(),
error.size(), vfs.get());
EXPECT_THAT(child_model, NotNull()) << error.data();
mj_deleteModel(child_model);
mjModel* parent_model = LoadModelFromString(parent_xml, error.data(),
error.size(), vfs.get());
EXPECT_THAT(parent_model, NotNull()) << error.data();
mj_deleteModel(parent_model);
mjModel* grandparent_model = LoadModelFromString(
grandparent_xml, error.data(), error.size(), vfs.get());
EXPECT_THAT(grandparent_model, NotNull()) << error.data();
mj_deleteModel(grandparent_model);
mj_deleteVFS(vfs.get());
}
} // namespace
} // namespace mujoco