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Change mjSpec and mjModel signature mechanism.

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The signature now contains the necessary information to safely perform `bind`. The private UIDs are now removed.

Fixes an issue of changing signature when compiling a copy of an mjSpec.

PiperOrigin-RevId: 744670626
Change-Id: Id3c66419cf2afbe78e91bc4b37d2299f5ec00ab1
This commit is contained in:
Alessio Quaglino
2025-04-07 04:20:17 -07:00
committed by Copybara-Service
parent 93251f07d9
commit cc2f57d820
7 changed files with 85 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/mujoco/mjx/_src/support_test.py
+1 -1
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@@ -349,7 +349,7 @@ class SupportTest(parameterized.TestCase):
self.assertEqual(
str(e.exception),
'mjSpec signature does not match mjx.Model signature:'
' 5495345807332648606 != 270010677651259353',
' 4300287342280373816 != 9887180086914550999',
)
_CONTACTS = """
src/user/user_flexcomp.cc
-2
View File
@@ -403,14 +403,12 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
mjCFlex* flex = model->AddFlex();
mjsFlex* pf = &flex->spec;
int id = flex->id;
int uid = flex->uid;
*flex = def.Flex();
flex->PointToLocal();
flex->model = model;
flex->id = id;
flex->uid = uid;
mjs_setString(pf->name, name.c_str());
mjs_setInt(pf->elem, element.data(), element.size());
mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
src/user/user_model.cc
+76 -20
View File
@@ -201,7 +201,6 @@ mjCModel::mjCModel() {
world->mass = 0;
mjuu_zerovec(world->inertia, 3);
world->id = 0;
world->uid = GetUid();
world->parent = nullptr;
world->weldid = 0;
world->name = "world";
@@ -297,7 +296,6 @@ void mjCModel::CopyList(std::vector<T*>& dest,
// copy the element from the other model to this model
if (deepcopy_) {
source[i]->ForgetKeyframes();
candidate->uid = source[i]->uid;
} else {
candidate->AddRef();
}
@@ -1038,7 +1036,6 @@ template <class T>
T* mjCModel::AddObject(vector<T*>& list, string type) {
T* obj = new T(this);
obj->id = (int)list.size();
obj->uid = GetUid();
list.push_back(obj);
spec.element->signature = Signature();
return obj;
@@ -1051,7 +1048,6 @@ T* mjCModel::AddObjectDefault(vector<T*>& list, string type, mjCDef* def) {
T* obj = new T(this, def ? def : defaults_[0]);
obj->id = (int)list.size();
obj->classname = def ? def->name : "main";
obj->uid = GetUid();
list.push_back(obj);
spec.element->signature = Signature();
return obj;
@@ -3615,7 +3611,7 @@ void mjCModel::SaveState(const std::string& state_name, const T* qpos, const T*
}
for (auto body : bodies_) {
if (!body->spec.mocap) {
if (!body->spec.mocap || body->mocapid == -1) {
continue;
}
if (mpos) {
@@ -4388,6 +4384,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
bodies_[i]->subtreedofs = 0;
}
// initialize spec signature (needed if the user changed sensor or joint types)
spec.element->signature = Signature();
// fill missing names and check that they are all filled
for (const auto& asset : meshes_) asset->CopyFromSpec();
for (const auto& asset : skins_) asset->CopyFromSpec();
@@ -4651,7 +4650,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// special cases that are not caused by user edits
if (compiler.fusestatic || compiler.discardvisual ||
!spec.element->signature || !pairs_.empty() || !excludes_.empty()) {
!pairs_.empty() || !excludes_.empty()) {
spec.element->signature = m->signature;
}
@@ -4663,21 +4662,78 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
uint64_t mjCModel::Signature() {
std::string uid_str;
for (int i = 0; i < mjNOBJECT; ++i) {
if (i == mjOBJ_XBODY || i == mjOBJ_UNKNOWN || i == mjOBJ_DOF) {
continue;
}
if (object_lists_[i] == nullptr) {
throw mjCError(0, "object list %s is null", std::to_string(i).c_str());
}
uid_str += '|';
for (mjCBase* object : *object_lists_[i]) {
uid_str += std::to_string(object->uid) + " ";
}
std::string mjCModel::PrintTree(const mjCBody* body, std::string indent) {
std::string tree;
tree += indent + "<body>\n";
indent += " ";
for (const auto& joint : body->joints) {
tree += indent + "<joint>" + std::to_string(joint->nq()) + "</joint>\n";
}
return mj_hashString(uid_str.c_str(), UINT64_MAX);
for (uint64_t i = 0; i < body->geoms.size(); ++i) {
tree += indent + "<geom/>\n";
}
for (uint64_t i = 0; i < body->sites.size(); ++i) {
tree += indent + "<site/>\n";
}
for (uint64_t i = 0; i < body->cameras.size(); ++i) {
tree += indent + "<camera/>\n";
}
for (uint64_t i = 0; i < body->lights.size(); ++i) {
tree += indent + "<light/>\n";
}
for (uint64_t i = 0; i < body->bodies.size(); ++i) {
tree += PrintTree(body->bodies[i], indent);
}
indent.pop_back();
indent.pop_back();
tree += indent + "</body>\n";
return tree;
}
uint64_t mjCModel::Signature() {
std::string tree = "\n" + PrintTree(bodies_[0]);
for (unsigned int i = 0; i < flexes_.size(); ++i) {
tree += "<flex/>\n";
}
for (unsigned int i = 0; i < meshes_.size(); ++i) {
tree += "<mesh/>\n";
}
for (unsigned int i = 0; i < skins_.size(); ++i) {
tree += "<skin/>\n";
}
for (unsigned int i = 0; i < hfields_.size(); ++i) {
tree += "<heightfield/>\n";
}
for (unsigned int i = 0; i < textures_.size(); ++i) {
tree += "<texture/>\n";
}
for (unsigned int i = 0; i < materials_.size(); ++i) {
tree += "<material/>\n";
}
for (unsigned int i = 0; i < pairs_.size(); ++i) {
tree += "<pair/>\n";
}
for (unsigned int i = 0; i < excludes_.size(); ++i) {
tree += "<exclude/>\n";
}
for (unsigned int i = 1; i < equalities_.size(); ++i) {
tree += "<equality/>\n";
}
for (unsigned int i = 0; i < tendons_.size(); ++i) {
tree += "<tendon/>\n";
}
for (unsigned int i = 0; i < actuators_.size(); ++i) {
tree += "<actuator/>\n";
}
for (unsigned int i = 0; i < sensors_.size(); ++i) {
tree += "<sensor>" + std::to_string(sensors_[i]->spec.type) + "<sensor/>\n";
}
for (unsigned int i = 0; i < keys_.size(); ++i) {
tree += "<key/>\n";
}
return mj_hashString(tree.c_str(), UINT64_MAX);
}
src/user/user_model.h
+3 -4
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@@ -324,9 +324,6 @@ class mjCModel : public mjCModel_, private mjSpec {
// set attached flag
void SetAttached(bool deepcopy) { attached_ |= !deepcopy; }
// get new uid
int GetUid() { return uid_count_++; }
private:
// settings for each defaults class
std::vector<mjCDef*> defaults_;
@@ -441,6 +438,9 @@ class mjCModel : public mjCModel_, private mjSpec {
void MarkPluginInstance(std::unordered_map<std::string, bool>& instances,
const std::vector<T*>& list);
// print the tree of a body
std::string PrintTree(const mjCBody* body, std::string indent = "");
// generate a signature for the model
uint64_t Signature();
@@ -449,7 +449,6 @@ class mjCModel : public mjCModel_, private mjSpec {
std::vector<mjKeyInfo> key_pending_; // attached keyframes
bool deepcopy_; // copy objects when attaching
bool attached_ = false; // true if model is attached to a parent model
int uid_count_ = 0; // unique id count for all objects
std::unordered_map<const mjsCompiler*, mjSpec*> compiler2spec_; // map from compiler to spec
};
#endif // MUJOCO_SRC_USER_USER_MODEL_H_
src/user/user_objects.cc
+1 -12
View File
@@ -818,6 +818,7 @@ mjCBody::mjCBody(mjCModel* _model) {
mjuu_zerovec(xpos0, 3);
mjuu_setvec(xquat0, 1, 0, 0, 0);
last_attached = nullptr;
mocapid = -1;
// clear object lists
bodies.clear();
@@ -840,7 +841,6 @@ mjCBody::mjCBody(mjCModel* _model) {
mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
model = _model;
uid = other.uid;
mjSpec* origin = model->FindSpec(other.compiler);
compiler = origin ? &origin->compiler : &model->spec.compiler;
*this = other;
@@ -944,7 +944,6 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
frames.back()->frame = other.frame;
if (model->deepcopy_) {
frames.back()->NameSpace(other_model);
frames.back()->uid = other.uid;
} else {
frames.back()->AddRef();
}
@@ -1037,8 +1036,6 @@ void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
// increment refcount if shallow copy is made
if (!model->deepcopy_) {
dst.back()->AddRef();
} else {
dst.back()->uid = src[i]->uid;
}
// set namespace
@@ -1256,7 +1253,6 @@ mjCBody* mjCBody::AddBody(mjCDef* _def) {
obj->parent = this;
// update signature
obj->uid = model->GetUid();
model->spec.element->signature = model->Signature();
return obj;
}
@@ -1271,7 +1267,6 @@ mjCFrame* mjCBody::AddFrame(mjCFrame* _frame) {
model->MakeTreeLists();
// update signature
obj->uid = model->GetUid();
model->spec.element->signature = model->Signature();
return obj;
}
@@ -1295,7 +1290,6 @@ mjCJoint* mjCBody::AddFreeJoint() {
// update signature
obj->uid = model->GetUid();
model->spec.element->signature = model->Signature();
return obj;
}
@@ -1318,7 +1312,6 @@ mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
// update signature
obj->uid = model->GetUid();
model->spec.element->signature = model->Signature();
return obj;
}
@@ -1341,7 +1334,6 @@ mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
// update signature
obj->uid = model->GetUid();
model->spec.element->signature = model->Signature();
return obj;
}
@@ -1364,7 +1356,6 @@ mjCSite* mjCBody::AddSite(mjCDef* _def) {
// update signature
obj->uid = model->GetUid();
model->spec.element->signature = model->Signature();
return obj;
}
@@ -1387,7 +1378,6 @@ mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
// update signature
obj->uid = model->GetUid();
model->spec.element->signature = model->Signature();
return obj;
}
@@ -1410,7 +1400,6 @@ mjCLight* mjCBody::AddLight(mjCDef* _def) {
// update signature
obj->uid = model->GetUid();
model->spec.element->signature = model->Signature();
return obj;
}
src/user/user_objects.h
-1
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@@ -219,7 +219,6 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
class mjCBase_ : public mjsElement {
public:
int id; // object id
int uid; // unique identifier
std::string name; // object name
std::string classname; // defaults class name
std::string info; // error message info set by the user
test/user/user_api_test.cc
+4
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@@ -550,6 +550,10 @@ TEST_F(PluginTest, RecompileCompare) {
mjModel* m_new = mj_compile(s, nullptr);
mjModel* m_copy = mj_compile(s_copy, nullptr);
// compare signature
EXPECT_EQ(m_old->signature, m_new->signature) << xml;
EXPECT_EQ(m_old->signature, m_copy->signature) << xml;
ASSERT_THAT(m_new, NotNull())
<< "Failed to recompile " << xml << ": " << mjs_getError(s);
ASSERT_THAT(m_copy, NotNull())