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Raise error for invalid name in MJX bind.

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PiperOrigin-RevId: 716214444
Change-Id: Ie9e3156b32b0c218cdbd0beb93a4a78800e07c43
This commit is contained in:
Alessio Quaglino
2025-01-16 06:39:32 -08:00
committed by Copybara-Service
parent 893a993bf6
commit f899e717d4
2 changed files with 42 additions and 30 deletions
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mjx/mujoco/mjx/_src/support.py
+36 -30
View File
@@ -299,66 +299,69 @@ class BindModel(object):
match spec: match spec:
case mujoco.MjsBody(): case mujoco.MjsBody():
self.prefix = 'body_' self.prefix = 'body_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
case mujoco.MjsJoint(): case mujoco.MjsJoint():
self.prefix = 'jnt_' self.prefix = 'jnt_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
case mujoco.MjsGeom(): case mujoco.MjsGeom():
self.prefix = 'geom_' self.prefix = 'geom_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
case mujoco.MjsSite(): case mujoco.MjsSite():
self.prefix = 'site_' self.prefix = 'site_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
case mujoco.MjsLight(): case mujoco.MjsLight():
self.prefix = 'light_' self.prefix = 'light_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
case mujoco.MjsCamera(): case mujoco.MjsCamera():
self.prefix = 'cam_' self.prefix = 'cam_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
case mujoco.MjsMesh(): case mujoco.MjsMesh():
self.prefix = 'mesh_' self.prefix = 'mesh_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_MESH, spec.name)
case mujoco.MjsHField(): case mujoco.MjsHField():
self.prefix = 'hfield_' self.prefix = 'hfield_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_HFIELD, spec.name)
case mujoco.MjsPair(): case mujoco.MjsPair():
self.prefix = 'pair_' self.prefix = 'pair_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_PAIR, spec.name)
case mujoco.MjsTendon(): case mujoco.MjsTendon():
self.prefix = 'tendon_' self.prefix = 'tendon_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
case mujoco.MjsActuator(): case mujoco.MjsActuator():
self.prefix = 'actuator_' self.prefix = 'actuator_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
case mujoco.MjsSensor(): case mujoco.MjsSensor():
self.prefix = 'sensor_' self.prefix = 'sensor_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
case mujoco.MjsNumeric(): case mujoco.MjsNumeric():
self.prefix = 'numeric_' self.prefix = 'numeric_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_NUMERIC, spec.name)
case mujoco.MjsText(): case mujoco.MjsText():
self.prefix = 'text_' self.prefix = 'text_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_TEXT, spec.name)
case mujoco.MjsTuple(): case mujoco.MjsTuple():
self.prefix = 'tuple_' self.prefix = 'tuple_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_TUPLE, spec.name)
case mujoco.MjsKey(): case mujoco.MjsKey():
self.prefix = 'key_' self.prefix = 'key_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_KEY, spec.name)
case mujoco.MjsEquality(): case mujoco.MjsEquality():
self.prefix = 'eq_' self.prefix = 'eq_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
case mujoco.MjsExclude(): case mujoco.MjsExclude():
self.prefix = 'exclude_' self.prefix = 'exclude_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_EXCLUDE, spec.name)
case mujoco.MjsSkin(): case mujoco.MjsSkin():
self.prefix = 'skin_' self.prefix = 'skin_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_SKIN, spec.name)
case mujoco.MjsMaterial(): case mujoco.MjsMaterial():
self.prefix = 'material_' self.prefix = 'material_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_MATERIAL, spec.name)
case _: case _:
raise ValueError('invalid spec type') raise ValueError('invalid spec type')
if idx < 0:
raise KeyError(f'invalid name: {spec.name}')
ids.append(idx)
if len(ids) == 1: if len(ids) == 1:
self.id = ids[0] self.id = ids[0]
else: else:
@@ -387,36 +390,39 @@ class BindData(object):
match spec: match spec:
case mujoco.MjsBody(): case mujoco.MjsBody():
self.prefix = '' self.prefix = ''
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_BODY, spec.name)
case mujoco.MjsJoint(): case mujoco.MjsJoint():
self.prefix = 'jnt_' self.prefix = 'jnt_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_JOINT, spec.name)
case mujoco.MjsGeom(): case mujoco.MjsGeom():
self.prefix = 'geom_' self.prefix = 'geom_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_GEOM, spec.name)
case mujoco.MjsSite(): case mujoco.MjsSite():
self.prefix = 'site_' self.prefix = 'site_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_SITE, spec.name)
case mujoco.MjsLight(): case mujoco.MjsLight():
self.prefix = 'light_' self.prefix = 'light_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_LIGHT, spec.name)
case mujoco.MjsCamera(): case mujoco.MjsCamera():
self.prefix = 'cam_' self.prefix = 'cam_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, spec.name)
case mujoco.MjsTendon(): case mujoco.MjsTendon():
self.prefix = 'ten_' self.prefix = 'ten_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_TENDON, spec.name)
case mujoco.MjsActuator(): case mujoco.MjsActuator():
self.prefix = 'actuator_' self.prefix = 'actuator_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR, spec.name)
case mujoco.MjsSensor(): case mujoco.MjsSensor():
self.prefix = 'sensor_' self.prefix = 'sensor_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, spec.name)
case mujoco.MjsEquality(): case mujoco.MjsEquality():
self.prefix = 'eq_' self.prefix = 'eq_'
ids.append(name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)) idx = name2id(model, mujoco.mjtObj.mjOBJ_EQUALITY, spec.name)
case _: case _:
raise ValueError('invalid spec type') raise ValueError('invalid spec type')
if idx < 0:
raise KeyError(f'invalid name: {spec.name}')
ids.append(idx)
if len(ids) == 1: if len(ids) == 1:
self.id = ids[0] self.id = ids[0]
else: else:
mjx/mujoco/mjx/_src/support_test.py
+6
View File
@@ -247,6 +247,12 @@ class SupportTest(parameterized.TestCase):
print(dx.bind(mx, s.actuators).actuator_ctrl) print(dx.bind(mx, s.actuators).actuator_ctrl)
with self.assertRaises(AttributeError): with self.assertRaises(AttributeError):
print(dx.bind(mx, s.actuators).set('actuator_ctrl', [1, 2, 3])) print(dx.bind(mx, s.actuators).set('actuator_ctrl', [1, 2, 3]))
with self.assertRaises(KeyError, msg='invalid name: invalid_actuator_name'):
s.actuators[0].name = 'invalid_actuator_name'
print(dx.bind(mx, s.actuators).set('ctrl', [1, 2, 3]))
with self.assertRaises(KeyError, msg='invalid name: invalid_geom_name'):
s.geoms[0].name = 'invalid_geom_name'
print(mx.bind(s.geoms).pos)
_CONTACTS = """ _CONTACTS = """
<mujoco> <mujoco>