Merge branch 'main' into usd-fixes

2024-08-25 19:15:17 -04:00
parent 85d19e189b cad8ca6ffd
commit e03f8f5f65
59 changed files with 1291 additions and 505 deletions
@@ -148,7 +148,7 @@ def _ptr_binding_code(
          self.{fullvarname}->push_back(py::cast<{vartype}>(val));
      }}
    }}, py::return_value_policy::reference_internal);"""
-  elif vartype == 'mjBuffer':  # C++ buffer -> Python list
+  elif vartype == 'mjByteVec':  # C++ buffer -> Python list
    return f"""\
  {classname}.def_property(
    "{varname}",
@@ -352,5 +352,29 @@ class SpecsTest(absltest.TestCase):
    self.assertEqual(model.nplugin, 1)
    self.assertEqual(model.body_plugin[1], 0)

+  def test_recompile_error(self):
+    main_xml = """
+    <mujoco>
+      <worldbody>
+        <body>
+          <geom size="0.1"/>
+        </body>
+      </worldbody>
+    </mujoco>
+    """
+
+    spec = mujoco.MjSpec()
+    spec.from_string(main_xml)
+    model = spec.compile()
+    data = mujoco.MjData(model)
+
+    spec.add_material().name = 'yellow'
+    spec.add_material().name = 'yellow'
+
+    with self.assertRaisesRegex(
+        ValueError, "Error: repeated name 'yellow' in material"
+    ):
+      spec.recompile(model, data)
+
 if __name__ == '__main__':
  absltest.main()
@@ -456,7 +456,9 @@ py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
  raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel)));
  m->buffer = nullptr;
  raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get());
-  mj_recompile(spec, nullptr, m, d);
+  if (mj_recompile(spec, nullptr, m, d)) {
+    throw py::value_error(mjs_getError(spec));
+  }

  py::object m_pyobj = py::cast((MjModelWrapper(m)));
  py::object d_pyobj =