Sam Haves
723b8b1ea6
This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations. From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs. PiperOrigin-RevId: 908772050 Change-Id: I77c6d0369307fc300c954768fed17401261e18da
137 lines
3.7 KiB
C++
137 lines
3.7 KiB
C++
// Copyright 2024 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "specs_wrapper.h"
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#include <cstddef> // IWYU pragma: keep
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#include <optional>
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#include <string>
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#include <string_view> // IWYU pragma: keep
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#include <vector> // IWYU pragma: keep
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#include <mujoco/mjspec.h> // IWYU pragma: keep
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#include <mujoco/mujoco.h>
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#include "errors.h"
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#include "indexers.h" // IWYU pragma: keep
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#include "raw.h"
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#include "structs.h" // IWYU pragma: keep
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#include <pybind11/cast.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/pytypes.h>
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#include <pybind11/stl.h>
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namespace py = ::pybind11;
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namespace mujoco::python {
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MjSpec::MjSpec() : ptr(mj_makeSpec()) {}
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MjSpec::MjSpec(raw::MjSpec* ptr, const py::dict& assets_) : ptr(ptr) {
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for (const auto [key, value] : assets_) {
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assets[key] = value;
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}
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}
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// copy constructor and assignment
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MjSpec::MjSpec(const MjSpec& other) : ptr(mj_copySpec(other.ptr)) {
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override_assets = other.override_assets;
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for (const auto [key, value] : other.assets) {
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assets[key] = value;
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}
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parent = other.parent;
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}
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MjSpec& MjSpec::operator=(const MjSpec& other) {
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override_assets = other.override_assets;
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ptr = mj_copySpec(other.ptr);
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for (const auto [key, value] : other.assets) {
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assets[key] = value;
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}
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parent = other.parent;
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return *this;
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}
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// move constructor and move assignment
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MjSpec::MjSpec(MjSpec&& other) : ptr(other.ptr) {
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override_assets = other.override_assets;
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other.ptr = nullptr;
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for (const auto [key, value] : other.assets) {
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assets[key] = value;
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}
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other.assets.clear();
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parent = other.parent;
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other.parent = nullptr;
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}
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MjSpec& MjSpec::operator=(MjSpec&& other) {
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override_assets = other.override_assets;
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ptr = other.ptr;
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other.ptr = nullptr;
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for (const auto [key, value] : other.assets) {
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assets[key] = value;
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}
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other.assets.clear();
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parent = other.parent;
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other.parent = nullptr;
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return *this;
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}
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MjSpec::~MjSpec() { mj_deleteSpec(ptr); }
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raw::MjModel* MjSpec::Compile(mjVFS* vfs) {
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if (vfs != nullptr && !assets.empty()) {
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throw py::value_error("Cannot specify both 'vfs' and 'assets'.");
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}
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std::optional<mjVFS> local_vfs;
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if (vfs == nullptr) {
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vfs = &local_vfs.emplace();
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mj_defaultVFS(vfs);
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for (const auto& asset : assets) {
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std::string buffer_name = py::cast<std::string>(asset.first).c_str();
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std::string buffer = py::cast<std::string>(asset.second);
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const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
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vfs, buffer_name.c_str(), buffer.c_str(), buffer.size());
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if (vfs_error) {
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mj_deleteVFS(vfs);
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if (vfs_error == 2) {
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throw py::value_error("Repeated file name in assets dict: " +
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buffer_name);
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} else {
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throw py::value_error("Asset failed to load: " + buffer_name);
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}
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}
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}
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}
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raw::MjModel* m;
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{
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py::gil_scoped_release no_gil;
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m = mj_compile(ptr, vfs);
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}
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if (local_vfs.has_value()) {
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// vfs points at local_vfs value.
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mj_deleteVFS(vfs);
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local_vfs = std::nullopt;
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}
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if (!m || mjs_isWarning(ptr)) {
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throw py::value_error(mjs_getError(ptr));
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}
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return m;
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}
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} // namespace mujoco::python
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