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Copy plugins when attaching a model.

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Before this CL, the same mjCPlugin objects were referenced by both models.

Fixes #2100.

PiperOrigin-RevId: 680579479
Change-Id: Ida3459f78f9fa4a942cea31b3d5d3e8da2832feb
This commit is contained in:
Alessio Quaglino
2024-09-30 08:06:54 -07:00
committed by Copybara-Service
parent 43a82e08be
commit e6e6e3b51b
3 changed files with 83 additions and 14 deletions
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test/user/user_api_test.cc
+50
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@@ -216,6 +216,56 @@ TEST_F(PluginTest, DeletePlugin) {
mj_deleteModel(newmodel);
}
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="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* spec_1 = mj_parseXMLString(xml_1, 0, err.data(), err.size());
ASSERT_THAT(spec_1, NotNull()) << err.data();
mjSpec* spec_2 = mj_parseXMLString(xml_2, 0, err.data(), err.size());
ASSERT_THAT(spec_2, NotNull()) << err.data();
mjsBody* body_1 = mjs_findBody(spec_1, "body");
EXPECT_THAT(body_1, NotNull());
mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
EXPECT_THAT(attachment_frame, NotNull());
mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "body"), "child-", "");
mjModel* model = mj_compile(spec_1, nullptr);
EXPECT_THAT(model, NotNull());
mj_deleteModel(model);
mj_deleteSpec(spec_1);
mj_deleteSpec(spec_2);
}
TEST_F(MujocoTest, RecompileFails) {
mjSpec* spec = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);