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Add prefix to asset paths when appending specs.

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PiperOrigin-RevId: 794966246
Change-Id: I4825a11cc3234e6f403340dd997742cea0e2183b
This commit is contained in:
Alessio Quaglino
2025-08-14 03:48:13 -07:00
committed by Copybara-Service
parent 1763fa537a
commit 07e7417d26
2 changed files with 85 additions and 37 deletions
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python/mujoco/specs.cc
+65 -17
View File
@@ -192,6 +192,29 @@ static std::string addSuffixBeforeExtension(const std::string& original_path,
}
}
static std::string addPrefixToFileName(const std::string& original_path,
const std::string& prefix_to_add) {
// Find the position of the last slash
size_t slash_pos = original_path.find_last_of("/\\");
// Check if a slash was found
if (slash_pos != std::string::npos) {
std::string new_path = original_path;
new_path.insert(slash_pos + 1, prefix_to_add);
return new_path;
} else {
// No slash found, just prepend
return prefix_to_add + original_path;
}
}
static std::string addPrefixAndSuffix(const std::string& original_path,
const std::string& prefix_to_add,
const std::string& suffix_to_add) {
std::string prefixed_path = addPrefixToFileName(original_path, prefix_to_add);
return addSuffixBeforeExtension(prefixed_path, suffix_to_add);
}
PYBIND11_MODULE(_specs, m) {
auto structs_m = py::module::import("mujoco._structs");
py::function mjmodel_from_raw_ptr =
@@ -487,11 +510,12 @@ PYBIND11_MODULE(_specs, m) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
}
// append the assets adding the suffix to their path
std::string suff(s);
// add prefix and suffix to the assets keys
std::string pre(p);
std::string suf(s);
for (const auto& asset : child.assets) {
std::string asset_name =
addSuffixBeforeExtension(asset.first.cast<std::string>(), suff);
addPrefixAndSuffix(asset.first.cast<std::string>(), pre, suf);
if (self.assets.contains(asset_name) && !self.override_assets) {
throw pybind11::value_error("Asset " +
asset.first.cast<std::string>() +
@@ -500,22 +524,46 @@ PYBIND11_MODULE(_specs, m) {
self.assets[py::str(asset_name)] = asset.second;
}
raw::MjsElement* mesh = mjs_firstElement(child.ptr, mjOBJ_MESH);
while (mesh) {
std::string file = mjs_getString(mjs_asMesh(mesh)->file);
if (!file.empty()) {
std::string mesh_file = addSuffixBeforeExtension(file, suff);
mjs_setString(mjs_asMesh(mesh)->file, mesh_file.c_str());
}
mesh = mjs_nextElement(child.ptr, mesh);
}
raw::MjsElement* tex = mjs_firstElement(child.ptr, mjOBJ_TEXTURE);
while (tex) {
std::string file = mjs_getString(mjs_asTexture(tex)->file);
if (!file.empty()) {
std::string tex_file = addSuffixBeforeExtension(file, suff);
mjs_setString(mjs_asTexture(tex)->file, tex_file.c_str());
raw::MjsElement* parent_mesh = mjs_firstElement(self.ptr, mjOBJ_MESH);
raw::MjsElement* parent_tex = mjs_firstElement(self.ptr, mjOBJ_TEXTURE);
bool child_has_assets = mesh || tex;
bool parent_has_assets = parent_mesh || parent_tex;
bool child_use_asset_dict = !child.assets.empty();
bool parent_use_asset_dict = !self.assets.empty();
if (!child_use_asset_dict && child_has_assets &&
parent_use_asset_dict) {
PyErr_WarnEx(
PyExc_Warning,
"Attaching a child without asset dict to a parent with an "
"asset dict might result in missing assets when attaching again.",
1);
}
if (!parent_use_asset_dict && parent_has_assets &&
child_use_asset_dict) {
PyErr_WarnEx(
PyExc_Warning,
"Attaching a child with asset dict to a parent without an "
"asset dict might result in missing assets when attaching again.",
1);
}
if (child_use_asset_dict) {
while (mesh) {
std::string file = mjs_getString(mjs_asMesh(mesh)->file);
if (!file.empty()) {
std::string mesh_file = addPrefixAndSuffix(file, pre, suf);
mjs_setString(mjs_asMesh(mesh)->file, mesh_file.c_str());
}
mesh = mjs_nextElement(child.ptr, mesh);
}
while (tex) {
std::string file = mjs_getString(mjs_asTexture(tex)->file);
if (!file.empty()) {
std::string tex_file = addPrefixAndSuffix(file, pre, suf);
mjs_setString(mjs_asTexture(tex)->file, tex_file.c_str());
}
tex = mjs_nextElement(child.ptr, tex);
}
tex = mjs_nextElement(child.ptr, tex);
}
child.parent = &self;
return mjs_asFrame(attached_frame);
python/mujoco/specs_test.py
+20 -20
View File
@@ -1047,7 +1047,7 @@ class SpecsTest(absltest.TestCase):
def test_attach_to_site(self):
parent = mujoco.MjSpec()
parent.assets = {'cube.obj': 'cube_content'}
parent.assets = {'path/cube.obj': 'cube_content'}
site = parent.worldbody.add_site(pos=[1, 2, 3], quat=[0, 0, 0, 1])
site.name = 'site'
@@ -1063,11 +1063,11 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(model1.nbody, 2)
np.testing.assert_array_equal(model1.body_pos[1], [0, 1, 4])
np.testing.assert_array_equal(model1.body_quat[1], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
# Attach entire spec to site and compile again.
child2 = mujoco.MjSpec()
child2.assets = {'cube2.obj': 'cube2_content'}
child2.assets = {'path/cube2.obj': 'cube2_content'}
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child2, site=site, suffix='-child2'))
self.assertIsNotNone(child2.worldbody)
@@ -1080,14 +1080,14 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(model2.body_pos[2], [2, 3, 2])
np.testing.assert_array_equal(model2.body_quat[1], [0, 0, 0, 1])
np.testing.assert_array_equal(model2.body_quat[2], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['cube2-child2.obj'], 'cube2_content')
self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/cube2-child2.obj'], 'cube2_content')
# Attach another spec to site (referenced by name) and compile again.
child3 = mujoco.MjSpec()
child3.assets = {'cube3.obj': 'cube3_content'}
child3.assets = {'path/cube3.obj': 'cube3_content'}
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, site='site', suffix='-child3'))
self.assertIsNotNone(parent.attach(child3, site='site', prefix='child3-'))
self.assertIsNotNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
body3.pos = [-2, -2, -2]
@@ -1100,9 +1100,9 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(model3.body_quat[1], [0, 0, 0, 1])
np.testing.assert_array_equal(model3.body_quat[2], [0, 0, 0, 1])
np.testing.assert_array_equal(model3.body_quat[3], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['cube2-child2.obj'], 'cube2_content')
self.assertEqual(parent.assets['cube3-child3.obj'], 'cube3_content')
self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/cube2-child2.obj'], 'cube2_content')
self.assertEqual(parent.assets['path/child3-cube3.obj'], 'cube3_content')
# Fail to attach to a site that does not exist.
child4 = mujoco.MjSpec()
@@ -1127,13 +1127,13 @@ class SpecsTest(absltest.TestCase):
def test_attach_to_frame(self):
parent = mujoco.MjSpec()
parent.assets = {'cube.obj': 'cube_content'}
parent.assets = {'path/cube.obj': 'cube_content'}
frame = parent.worldbody.add_frame(pos=[1, 2, 3], quat=[0, 0, 0, 1])
frame.name = 'frame'
# Attach body to frame and compile.
child1 = mujoco.MjSpec()
child1.assets = {'cube1.obj': 'cube1_content'}
child1.assets = {'path/cube1.obj': 'cube1_content'}
body1 = child1.worldbody.add_body()
self.assertIs(body1, frame.attach_body(body1, prefix='_'))
self.assertIsNotNone(child1.worldbody)
@@ -1143,11 +1143,11 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(model1.nbody, 2)
np.testing.assert_array_equal(model1.body_pos[1], [0, 1, 4])
np.testing.assert_array_equal(model1.body_quat[1], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
# Attach entire spec to frame and compile again.
child2 = mujoco.MjSpec()
child2.assets = {'cube2.obj': 'cube2_content'}
child2.assets = {'path/cube2.obj': 'cube2_content'}
body2 = child2.worldbody.add_body(name='body')
body2.set_frame(child2.worldbody.add_frame(pos=[-1, -1, 1]))
self.assertIsNotNone(parent.attach(child2, frame=frame, suffix='-child'))
@@ -1161,15 +1161,15 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(model2.body_pos[2], [3, 4, 3])
np.testing.assert_array_equal(model2.body_quat[1], [0, 0, 0, 1])
np.testing.assert_array_equal(model2.body_quat[2], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['cube2-child.obj'], 'cube2_content')
self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/cube2-child.obj'], 'cube2_content')
# Attach another spec to frame (referenced by name) and compile again.
child3 = mujoco.MjSpec()
child3.assets = {'cube2.obj': 'new_cube2_content'}
child3.assets = {'path/cube2.obj': 'new_content'}
body3 = child3.worldbody.add_body(name='body')
body3.set_frame(child3.worldbody.add_frame(pos=[-1, -1, 1]))
self.assertIsNotNone(parent.attach(child3, frame='frame', suffix='-child3'))
self.assertIsNotNone(parent.attach(child3, frame='frame', prefix='child3-'))
self.assertIsNotNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
body3.pos = [-2, -2, -2]
@@ -1182,8 +1182,8 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(model3.body_quat[1], [0, 0, 0, 1])
np.testing.assert_array_equal(model3.body_quat[2], [0, 0, 0, 1])
np.testing.assert_array_equal(model3.body_quat[3], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['cube2-child3.obj'], 'new_cube2_content')
self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/child3-cube2.obj'], 'new_content')
# Fail to attach to a frame that does not exist.
child4 = mujoco.MjSpec()