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Remove plugins that are not referenced after detaching a body.

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Fixes #2497.

Also, use `Release()` instead of `delete` for removing elements when detaching a body in order to preserve correct reference count.

PiperOrigin-RevId: 739133888
Change-Id: I7ccfad84446fb15259bad30c4ba1e6f7fa601518
This commit is contained in:
Alessio Quaglino
2025-03-21 04:32:57 -07:00
committed by Copybara-Service
parent 8d92a0fbe6
commit dc96ed6bdb
3 changed files with 157 additions and 76 deletions
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test/user/user_api_test.cc
+58 -32
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@@ -230,41 +230,41 @@ TEST_F(PluginTest, DeletePlugin) {
mj_deleteModel(newmodel);
}
static constexpr char xml_plugin_1[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body"/>
</worldbody>
</mujoco>)";
static constexpr char xml_plugin_2[] = R"(
<mujoco model="MuJoCo Model">
<extension>
<plugin plugin="mujoco.pid">
<instance name="actuator-1">
<config key="ki" value="4.0"/>
<config key="slewmax" value="3.14159"/>
</instance>
</plugin>
</extension>
<worldbody>
<body name="empty"/>
<body name="body">
<joint name="joint"/>
<geom size="0.1"/>
</body>
</worldbody>
<actuator>
<plugin name="actuator-1" plugin="mujoco.pid" instance="actuator-1"
joint="joint" actdim="2"/>
</actuator>
</mujoco>)";
TEST_F(PluginTest, AttachPlugin) {
static constexpr char xml_1[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body"/>
</worldbody>
</mujoco>)";
static constexpr char xml_2[] = R"(
<mujoco model="MuJoCo Model">
<extension>
<plugin plugin="mujoco.pid">
<instance name="actuator-1">
<config key="ki" value="4.0"/>
<config key="slewmax" value="3.14159"/>
</instance>
</plugin>
</extension>
<worldbody>
<body name="empty"/>
<body name="body">
<joint name="joint"/>
<geom size="0.1"/>
</body>
</worldbody>
<actuator>
<plugin name="actuator-1" plugin="mujoco.pid" instance="actuator-1"
joint="joint" actdim="2"/>
</actuator>
</mujoco>)";
std::array<char, 1000> err;
mjSpec* parent = mj_parseXMLString(xml_1, 0, err.data(), err.size());
mjSpec* parent = mj_parseXMLString(xml_plugin_1, 0, err.data(), err.size());
ASSERT_THAT(parent, NotNull()) << err.data();
mjSpec* spec_1 = mj_parseXMLString(xml_2, 0, err.data(), err.size());
mjSpec* spec_1 = mj_parseXMLString(xml_plugin_2, 0, err.data(), err.size());
ASSERT_THAT(spec_1, NotNull()) << err.data();
// do a copy before attaching
@@ -306,6 +306,32 @@ TEST_F(PluginTest, AttachPlugin) {
mj_deleteSpec(spec_3);
}
TEST_F(PluginTest, DetachPlugin) {
std::array<char, 1000> err;
mjSpec* parent = mj_parseXMLString(xml_plugin_1, 0, err.data(), err.size());
ASSERT_THAT(parent, NotNull()) << err.data();
mjSpec* child = mj_parseXMLString(xml_plugin_2, 0, err.data(), err.size());
ASSERT_THAT(child, NotNull()) << err.data();
// attach a body referencing the plugin to the frame
mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0);
mjsBody* body = mjs_findBody(child, "body");
EXPECT_THAT(mjs_attachBody(frame, body, "child-", ""), NotNull());
// detach the body and compile
mjsBody* body_to_detach = mjs_findBody(parent, "child-body");
EXPECT_THAT(body_to_detach, NotNull());
EXPECT_THAT(mjs_detachBody(parent, body_to_detach), 0);
mjModel* model = mj_compile(parent, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nbody, 2);
EXPECT_THAT(model->nplugin, 0);
mj_deleteModel(model);
mj_deleteSpec(parent);
mj_deleteSpec(child);
}
TEST_F(PluginTest, AttachExplicitPlugin) {
static constexpr char xml_parent[] = R"(
<mujoco model="MuJoCo Model">