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Do not skip mjSpec's with repeated model names when attaching a new mjSpec.

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PiperOrigin-RevId: 744705838
Change-Id: Ie47a3c029f443910629619b7f9ff43ab07646725
This commit is contained in:
Alessio Quaglino
2025-04-07 06:51:21 -07:00
committed by Copybara-Service
parent 58234b2217
commit d7027fb1c0
3 changed files with 33 additions and 18 deletions
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src/user/user_api.cc
+1 -1
View File
@@ -73,7 +73,7 @@ mjSpec* mj_copySpec(const mjSpec* s) {
try {
modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
} catch (mjCError& e) {
modelC->SetError(e);
static_cast<mjCModel*>(s->element)->SetError(e);
return nullptr;
}
return &modelC->spec;
src/user/user_objects.cc
+2 -2
View File
@@ -916,7 +916,7 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
// attach frame to body
mjCBody& mjCBody::operator+=(const mjCFrame& other) {
// append a copy of the attached spec
if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
}
@@ -2029,7 +2029,7 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
// attach body to frame
mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
// append a copy of the attached spec
if (other.model != model && !model->FindSpec(mjs_getString(other.model->spec.modelname))) {
if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
}
test/user/user_api_test.cc
+30 -15
View File
@@ -2552,31 +2552,46 @@ TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
// load specs and compile child
mjSpec* parent = mj_parseXMLString(xml_parent, 0, nullptr, 0);
EXPECT_THAT(parent, NotNull());
mjSpec* child = mj_parseXMLString(xml_child, 0, nullptr, 0);
EXPECT_THAT(child, NotNull());
mjModel* m_child = mj_compile(child, 0);
EXPECT_THAT(m_child, NotNull());
mjSpec* child1 = mj_parseXMLString(xml_child, 0, nullptr, 0);
EXPECT_THAT(child1, NotNull());
mjModel* m_child1 = mj_compile(child1, 0);
EXPECT_THAT(m_child1, NotNull());
mjSpec* child2 = mj_parseXMLString(xml_child, 0, nullptr, 0);
EXPECT_THAT(child2, NotNull());
mjModel* m_child2 = mj_compile(child1, 0);
EXPECT_THAT(m_child2, NotNull());
// attach child frame to parent worldbody
mjsBody* world = mjs_findBody(parent, "world");
EXPECT_THAT(world, NotNull());
mjsFrame* child_frame = mjs_findFrame(child, "child");
EXPECT_THAT(child_frame, NotNull());
mjsElement* attached_frame =
mjs_attach(world->element, child_frame->element, "child-", "");
EXPECT_THAT(attached_frame, NotNull());
mjsFrame* child1_frame = mjs_findFrame(child1, "child");
EXPECT_THAT(child1_frame, NotNull());
mjsFrame* child2_frame = mjs_findFrame(child2, "child");
EXPECT_THAT(child2_frame, NotNull());
mjsElement* attached_frame1 =
mjs_attach(world->element, child1_frame->element, "child-", "-1");
EXPECT_THAT(attached_frame1, NotNull());
mjsElement* attached_frame2 =
mjs_attach(world->element, child2_frame->element, "child-", "-2");
EXPECT_THAT(attached_frame2, NotNull());
// wrap the child frame in the parent frame and compile
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
EXPECT_NEAR(m_attached->site_quat[0], m_child->site_quat[0], 1e-6);
EXPECT_NEAR(m_attached->site_quat[1], m_child->site_quat[1], 1e-6);
EXPECT_NEAR(m_attached->site_quat[2], m_child->site_quat[2], 1e-6);
EXPECT_NEAR(m_attached->site_quat[3], m_child->site_quat[3], 1e-6);
EXPECT_NEAR(m_attached->site_quat[0], m_child1->site_quat[0], 1e-6);
EXPECT_NEAR(m_attached->site_quat[1], m_child1->site_quat[1], 1e-6);
EXPECT_NEAR(m_attached->site_quat[2], m_child1->site_quat[2], 1e-6);
EXPECT_NEAR(m_attached->site_quat[3], m_child1->site_quat[3], 1e-6);
EXPECT_NEAR(m_attached->site_quat[4], m_child2->site_quat[0], 1e-6);
EXPECT_NEAR(m_attached->site_quat[5], m_child2->site_quat[1], 1e-6);
EXPECT_NEAR(m_attached->site_quat[6], m_child2->site_quat[2], 1e-6);
EXPECT_NEAR(m_attached->site_quat[7], m_child2->site_quat[3], 1e-6);
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_child);
mj_deleteSpec(child1);
mj_deleteModel(m_child1);
mj_deleteSpec(child2);
mj_deleteModel(m_child2);
mj_deleteModel(m_attached);
}