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Add recursive call to FindSpec for handling nested attachments.

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PiperOrigin-RevId: 713629578
Change-Id: I23efa5a86bac187fc42eb955d29cc03cbacfd9e0
This commit is contained in:
Alessio Quaglino
2025-01-09 04:55:19 -08:00
committed by Copybara-Service
parent 40ef08c8ed
commit f7d38dac62
3 changed files with 39 additions and 7 deletions
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src/user/user_mesh.cc
+3
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@@ -151,6 +151,7 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
if (_model) compiler = &_model->spec.compiler;
classname = (_def ? _def->name : (_model ? "main" : ""));
// in case this body is not compiled
@@ -1981,6 +1982,7 @@ mjCSkin::mjCSkin(mjCModel* _model) {
// set model pointer
model = _model;
if (model) compiler = &model->spec.compiler;
// clear data
spec_file_.clear();
@@ -2638,6 +2640,7 @@ mjCFlex::mjCFlex(mjCModel* _model) {
// set model
model = _model;
if (_model) compiler = &_model->spec.compiler;
// clear internal variables
nvert = 0;
src/user/user_model.cc
+8 -4
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@@ -236,7 +236,7 @@ void mjCModel::CopyList(std::vector<T*>& dest,
}
// copy the element from the other model to this model
source[i]->ForgetKeyframes();
mjSpec* origin = FindSpec(mjs_getString(source[i]->model->spec.modelname));
mjSpec* origin = FindSpec(source[i]->compiler);
dest.push_back(candidate);
dest.back()->model = this;
dest.back()->compiler = origin ? &origin->compiler : &spec.compiler;
@@ -1228,9 +1228,13 @@ mjSpec* mjCModel::FindSpec(std::string name) const {
// find spec by mjsCompiler pointer
mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
for (auto spec : specs_) {
if (&(static_cast<const mjCModel*>(spec->element)->GetSourceSpec()->compiler) == compiler_) {
return spec;
if (&GetSourceSpec()->compiler == compiler_) {
return (mjSpec*)&spec;
}
for (auto s : specs_) {
mjSpec* source = static_cast<mjCModel*>(s->element)->FindSpec(compiler_);
if (source) {
return source;
}
}
return nullptr;
test/user/user_api_test.cc
+28 -3
View File
@@ -2033,6 +2033,19 @@ TEST_F(MujocoTest, ResizeParentKeyframe) {
}
TEST_F(MujocoTest, DifferentUnitsAllowed) {
static constexpr char gchild_xml[] = R"(
<mujoco model="gchild">
<compiler angle="radian"/>
<worldbody>
<body name="gchild" euler="-1.5707963 0 0">
<geom type="box" size="1 1 1"/>
<joint name="gchild_joint" range="-3.1415926 3.1415926"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char child_xml[] = R"(
<mujoco>
<compiler angle="radian"/>
@@ -2041,6 +2054,7 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
<body name="child" euler="-1.5707963 0 0">
<geom type="box" size="1 1 1"/>
<joint name="child_joint" range="-3.1415926 3.1415926"/>
<frame name="frame" euler="1.5707963 0 0"/>
</body>
</worldbody>
</mujoco>
@@ -2059,19 +2073,27 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
)";
std::array<char, 1024> error;
mjSpec* gchild =
mj_parseXMLString(gchild_xml, 0, error.data(), error.size());
mjSpec* child = mj_parseXMLString(child_xml, 0, error.data(), error.size());
mjSpec* spec = mj_parseXMLString(parent_xml, 0, error.data(), error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
mjs_attachBody(mjs_findFrame(spec, "frame"), mjs_findBody(child, "child"),
mjs_attachBody(mjs_findFrame(child, "frame"),
mjs_findBody(gchild, "gchild"),
"gchild_", "");
mjs_attachBody(mjs_findFrame(spec, "frame"),
mjs_findBody(child, "child"),
"child_", "");
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->njnt, 2);
EXPECT_THAT(model->njnt, 3);
EXPECT_NEAR(model->jnt_range[0], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[1], mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[2], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[3], mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[4], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[5], mjPI, 1e-6);
EXPECT_NEAR(model->body_quat[4], 1, 1e-12);
EXPECT_NEAR(model->body_quat[5], 0, 1e-12);
EXPECT_NEAR(model->body_quat[6], 0, 1e-12);
@@ -2079,6 +2101,7 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
mjSpec* copied_spec = mj_copySpec(spec);
ASSERT_THAT(copied_spec, NotNull());
mj_deleteSpec(gchild);
mj_deleteSpec(child);
mj_deleteSpec(spec);
mj_deleteModel(model);
@@ -2086,11 +2109,13 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
// check that deleting `parent` or `child` does not invalidate the copy
mjModel* copied_model = mj_compile(copied_spec, 0);
EXPECT_THAT(copied_model, NotNull());
EXPECT_THAT(copied_model->njnt, 2);
EXPECT_THAT(copied_model->njnt, 3);
EXPECT_NEAR(copied_model->jnt_range[0], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[1], mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[2], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[3], mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[4], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[5], mjPI, 1e-6);
EXPECT_NEAR(copied_model->body_quat[4], 1, 1e-12);
EXPECT_NEAR(copied_model->body_quat[5], 0, 1e-12);
EXPECT_NEAR(copied_model->body_quat[6], 0, 1e-12);