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Fix mjSpec colab after changing the default behavior of attach to be a shallow copy.

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PiperOrigin-RevId: 724375710
Change-Id: I5fac7d24c1d0b1ad4d427c021022c47620accf53
This commit is contained in:
Alessio Quaglino
2025-02-07 09:40:14 -08:00
committed by Copybara-Service
parent c1ecc50081
commit 06758e35ab
2 changed files with 11 additions and 6 deletions
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doc/python.rst
+8 -6
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@@ -547,16 +547,18 @@ It is possible to combine multiple specs by using attachments. The following opt
the reference to the attached body, which should be identical to the body used as input.
- Attach a frame from the child spec to a body in the parent spec: ``body.attach_frame(frame, prefix, suffix)``,
returns the reference to the attached frame, which should be identical to the frame used as input.
- Attach a child spec to a site in the parent spec: ``spec.attach(child_spec, site=site_name_or_obj)``, returns the
reference to a frame, which is the attached worldbody transformed into a frame. The site must belong to the child
spec. Prefix and suffix can also be specified as keyword arguments.
- Attach a child spec to a site in the parent spec: ``parent_spec.attach(child_spec, site=site_name_or_obj)``, returns
the reference to a frame, which is the attached worldbody transformed into a frame. The site must belong to the
child spec. Prefix and suffix can also be specified as keyword arguments.
- Attach a child spec to a frame in the parent spec: ``parent_spec.attach(child_spec, frame=frame_name_or_obj)``,
returns the reference to a frame, which is the attached worldbody transformed into a frame. The frame must belong to
the child spec. Prefix and suffix can also be specified as keyword arguments.
Attaching does not copy, so all the child references are still valid in the parent and therefore modifying the child will
modify the parent. This is not true for the attach :ref:`attach<body-attach>` and :ref:`replicate<replicate>`
meta-elements in MJCF, which create deep copies while attaching.
The default behavior of attaching is to not copy, so all the child references (except for the worldbody) are still valid
in the parent and therefore modifying the child will modify the parent. This is not true for the attach
:ref:`attach<body-attach>` and :ref:`replicate<replicate>` meta-elements in MJCF, which create deep copies while
attaching. However, it is possible to override the default behavior by setting ``spec.copy_during_attaching`` to
``True``. In this case, the child spec is copied and the references to the child will not point to the parent.
.. code-block:: python