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Merge child asset dictionary into parent spec during attach().

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PiperOrigin-RevId: 717939728
Change-Id: I54f8ac87062cf19f55a16af37b777701545ed865
This commit is contained in:
Alessio Quaglino
2025-01-21 08:56:25 -08:00
committed by Copybara-Service
parent 4bb6aeb19f
commit 1412a29dac
2 changed files with 28 additions and 0 deletions
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python/mujoco/specs.cc
+8
View File
@@ -552,6 +552,14 @@ PYBIND11_MODULE(_specs, m) {
if (!attached_world) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
for (const auto& asset : child.assets) {
if (self.assets.contains(asset.first)) {
throw pybind11::value_error("Asset " +
asset.first.cast<std::string>() +
" already exists in parent spec.");
}
self.assets[asset.first] = asset.second;
}
return mjs_bodyToFrame(&attached_world);
},
py::arg("child"), py::arg("prefix") = py::none(),
python/mujoco/specs_test.py
+20
View File
@@ -938,11 +938,13 @@ class SpecsTest(absltest.TestCase):
def test_attach_to_site(self):
parent = mujoco.MjSpec()
parent.assets = {'cube.obj': 'cube_content'}
site = parent.worldbody.add_site(pos=[1, 2, 3], quat=[0, 0, 0, 1])
site.name = 'site'
# Attach body to site and compile.
child1 = mujoco.MjSpec()
child1.assets = {'cube1.obj': 'cube1_content'}
body1 = child1.worldbody.add_body()
self.assertIs(body1, site.attach_body(body1, prefix='_'))
body1.pos = [1, 1, 1]
@@ -951,9 +953,11 @@ 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')
# Attach entire spec to site and compile again.
child2 = mujoco.MjSpec()
child2.assets = {'cube2.obj': 'cube2_content'}
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child2, site=site, prefix='child2-'))
body2.pos = [-1, -1, -1]
@@ -964,9 +968,12 @@ 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.obj'], 'cube2_content')
# Attach another spec to site (referenced by name) and compile again.
child3 = mujoco.MjSpec()
child3.assets = {'cube3.obj': 'cube3_content'}
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, site='site', prefix='child3-'))
body3.pos = [-2, -2, -2]
@@ -979,6 +986,9 @@ 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.obj'], 'cube2_content')
self.assertEqual(parent.assets['cube3.obj'], 'cube3_content')
# Fail to attach to a site that does not exist.
child4 = mujoco.MjSpec()
@@ -994,11 +1004,13 @@ class SpecsTest(absltest.TestCase):
def test_attach_to_frame(self):
parent = mujoco.MjSpec()
parent.assets = {'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'}
body1 = child1.worldbody.add_body()
self.assertIs(body1, frame.attach_body(body1, prefix='_'))
body1.pos = [1, 1, 1]
@@ -1007,9 +1019,11 @@ 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')
# Attach entire spec to frame and compile again.
child2 = mujoco.MjSpec()
child2.assets = {'cube2.obj': 'cube2_content'}
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child2, frame=frame, prefix='child-'))
body2.pos = [-1, -1, -1]
@@ -1020,9 +1034,12 @@ 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.obj'], 'cube2_content')
# Attach another spec to frame (referenced by name) and compile again.
child3 = mujoco.MjSpec()
child3.assets = {'cube3.obj': 'cube3_content'}
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, frame='frame', prefix='child3-'))
body3.pos = [-2, -2, -2]
@@ -1035,6 +1052,9 @@ 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.obj'], 'cube2_content')
self.assertEqual(parent.assets['cube3.obj'], 'cube3_content')
# Fail to attach to a frame that does not exist.
child4 = mujoco.MjSpec()