Sam Haves
ce74475c39
PiperOrigin-RevId: 853838173 Change-Id: Id0dd33b69657813275d1f42db54fae222c337791
124 lines
3.4 KiB
C++
124 lines
3.4 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 <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() {
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if (assets.empty()) {
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auto m = mj_compile(ptr, 0);
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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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mjVFS vfs;
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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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auto m = mj_compile(ptr, &vfs);
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mj_deleteVFS(&vfs);
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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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