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Remove mj_makeEmptyFileVFS and mj_findFileVFS from MuJoCo API.

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PiperOrigin-RevId: 645393666
Change-Id: Iabe939c88f60b80dce20f84c7ff9a6396717cc84
This commit is contained in:
Kyle Bayes
2024-06-21 08:11:48 -07:00
committed by Copybara-Service
parent 14fe527ea2
commit e66b9a36b2
9 changed files with 32 additions and 117 deletions
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doc/APIreference/functions.rst
+2 -20
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@@ -1203,7 +1203,7 @@ mj_defaultVFS
.. mujoco-include:: mj_defaultVFS
Initialize VFS to empty (no deallocation).
Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS.
.. _mj_addFileVFS:
@@ -1224,15 +1224,6 @@ mj_addBufferVFS
Add file to VFS from buffer, return 0: success, 1: full, 2: repeated name, -1: failed to load.
.. _mj_findFileVFS:
mj_findFileVFS
~~~~~~~~~~~~~~
.. mujoco-include:: mj_findFileVFS
Return file index in VFS, or -1 if not found in VFS.
.. _mj_deleteFileVFS:
mj_deleteFileVFS
@@ -1249,16 +1240,7 @@ mj_deleteVFS
.. mujoco-include:: mj_deleteVFS
Delete all files from VFS.
.. _mj_makeEmptyFileVFS:
mj_makeEmptyFileVFS
~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_makeEmptyFileVFS
deprecated: use mj_copyBufferVFS.
Delete all files from VFS and deallocates VFS internal memory.
.. _Initialization:
doc/changelog.rst
+23 -13
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@@ -7,7 +7,17 @@ Upcoming version (not yet released)
General
^^^^^^^
1. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
.. admonition:: Breaking API changes
:class: attention
1. Removed deprecated ``mj_makeEmptyFileVFS`` and ``mj_findFileVFS`` functions.
**Migration:** Use ``mj_addBufferVFS`` to copy a buffer into a VFS file directly.
2. Calls to ``mj_defaultVFS`` may allocate memory inside VFS, and the corresponding
``mj_deleteVFS`` must be called to deallocate any internal allocated memory.
3. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
Still missing:
- Detailed documentation.
@@ -17,15 +27,15 @@ General
:align: right
:width: 240px
2. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
4. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
attributes, respectively.
3. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
4. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
5. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
6. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
5. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
6. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
7. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
8. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
:ref:`mju_mulMatTVec3`. These functions names and argument ordering are more consistent with the rest of the API.
7. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
9. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
@@ -34,9 +44,9 @@ General
MJX
~~~
8. Added support for :ref:`elliptic friction cones<option-cone>`.
9. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
10. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
10. Added support for :ref:`elliptic friction cones<option-cone>`.
11. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
12. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
.. youtube:: P83tKA1iz2Y
@@ -45,14 +55,14 @@ MJX
Simulate
^^^^^^^^
11. Added improved tutorial video.
12. Improved the Brownian noise generator.
13. Added improved tutorial video.
14. Improved the Brownian noise generator.
|br| |br| |br| |br|
Python bindings
^^^^^^^^^^^^^^^
13. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
15. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
Version 3.1.6 (Jun 3, 2024)
---------------------------
doc/includes/references.h
-2
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@@ -3068,10 +3068,8 @@ typedef struct mjvSceneState_ mjvSceneState;
void mj_defaultVFS(mjVFS* vfs);
int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
int mj_findFileVFS(const mjVFS* vfs, const char* filename);
int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
void mj_deleteVFS(mjVFS* vfs);
int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
include/mujoco/mujoco.h
+2 -8
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@@ -74,7 +74,7 @@ MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
//---------------------------------- Virtual file system -------------------------------------------
// Initialize VFS to empty (no deallocation).
// Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS.
MJAPI void mj_defaultVFS(mjVFS* vfs);
// Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.
@@ -83,18 +83,12 @@ MJAPI int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename)
// Add file to VFS from buffer, return 0: success, 1: full, 2: repeated name, -1: failed to load.
MJAPI int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
// Return file index in VFS, or -1 if not found in VFS.
MJAPI int mj_findFileVFS(const mjVFS* vfs, const char* filename);
// Delete file from VFS, return 0: success, -1: not found in VFS.
MJAPI int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
// Delete all files from VFS.
// Delete all files from VFS and deallocates VFS internal memory.
MJAPI void mj_deleteVFS(mjVFS* vfs);
// deprecated: use mj_copyBufferVFS.
MJAPI int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
//---------------------------------- Parse and compile ---------------------------------------------
introspect/functions.py
+2 -46
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@@ -38,7 +38,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc='Initialize VFS to empty (no deallocation).',
doc='Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS.', # pylint: disable=line-too-long
)),
('mj_addFileVFS',
FunctionDecl(
@@ -96,26 +96,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Add file to VFS from buffer, return 0: success, 1: full, 2: repeated name, -1: failed to load.', # pylint: disable=line-too-long
)),
('mj_findFileVFS',
FunctionDecl(
name='mj_findFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return file index in VFS, or -1 if not found in VFS.',
)),
('mj_deleteFileVFS',
FunctionDecl(
name='mj_deleteFileVFS',
@@ -148,31 +128,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc='Delete all files from VFS.',
)),
('mj_makeEmptyFileVFS',
FunctionDecl(
name='mj_makeEmptyFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='filesize',
type=ValueType(name='int'),
),
),
doc='deprecated: use mj_copyBufferVFS.',
doc='Delete all files from VFS and deallocates VFS internal memory.',
)),
('mj_loadXML',
FunctionDecl(
src/user/user_vfs.h
+3 -3
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@@ -27,17 +27,17 @@
extern "C" {
#endif
// initialize to empty (no deallocation)
// Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS
MJAPI void mj_defaultVFS(mjVFS* vfs);
// add file to VFS, return 0: success, 1: full, 2: repeated name, -1: not found on disk
MJAPI int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
// deprecated: use mj_copyBufferVFS
// deprecated: use mj_addBufferVFS
MJAPI int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
// add file from buffer into VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load
MJAPI int mj_copyBufferVFS(mjVFS* vfs, const char* filename, const void* buffer, int nbuffer);
MJAPI int mj_addBufferVFS(mjVFS* vfs, const char* filename, const void* buffer, int nbuffer);
// return file index in VFS, or -1 if not found in VFS
MJAPI int mj_findFileVFS(const mjVFS* vfs, const char* filename);
unity/Runtime/Bindings/MjBindings.cs
-6
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@@ -6376,18 +6376,12 @@ public static unsafe extern int mj_addFileVFS(void* vfs, [MarshalAs(UnmanagedTyp
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_addBufferVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string name, void* buffer, int nbuffer);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_findFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string filename);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_deleteFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string filename);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_deleteVFS(void* vfs);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_makeEmptyFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string filename, int filesize);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern mjModel_* mj_loadXML([MarshalAs(UnmanagedType.LPStr)]string filename, void* vfs, StringBuilder error, int error_sz);
unity/Runtime/Tools/MjVfs.cs
-12
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@@ -59,20 +59,8 @@ public sealed class MjVfs : IDisposable {
}
}
// Searches the VFS for the specified file and returns its index.
// The index then can be used to retrieve the file contents from Data.filedata array.
public unsafe int FindFile(string filename) {
return mj_findFileVFS(_unmanagedVfs.ToPointer(), filename);
}
// Loads a model from the specified file.
// The file is assumed to be located in the filesystem. If it's not found, the method will throw
// an ArgumentException.
public unsafe MujocoLib.mjModel_* LoadXML(string filename) {
if (FindFile(filename) < 0) {
throw new ArgumentException($"File {filename} was not added to the VFS.");
}
var errorBuf = new StringBuilder(1024);
MujocoLib.mjModel_* model = MujocoLib.mj_loadXML(
filename, _unmanagedVfs.ToPointer(), errorBuf, errorBuf.Capacity);
unity/Tests/Editor/Tools/MjVFSEditorTests.cs
-7
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@@ -42,12 +42,5 @@ namespace Mujoco {
_vfs.AddFile(filename, contents);
Assert.That(_vfs.FilesCount, Is.EqualTo(1));
}
[Test]
public unsafe void LocatingFileUsingMujocoLib() {
var filename = "filename";
_vfs.AddFile(filename, "contents");
Assert.That(_vfs.FindFile(filename), Is.EqualTo(0));
}
}
}