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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
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@@ -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);