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Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site.

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PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
This commit is contained in:
Alessio Quaglino
2025-03-17 10:20:42 -07:00
committed by Copybara-Service
parent da04688071
commit 1bf24e9f67
9 changed files with 59 additions and 4 deletions
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python/mujoco/specs_test.py
+5 -3
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@@ -1072,6 +1072,7 @@ class SpecsTest(absltest.TestCase):
child2 = mujoco.MjSpec()
child2.assets = {'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, prefix='child-'))
self.assertIsNotNone(child2.worldbody)
self.assertEqual(child2.parent, parent)
@@ -1080,7 +1081,7 @@ class SpecsTest(absltest.TestCase):
self.assertIsNotNone(model2)
self.assertEqual(model2.nbody, 3)
np.testing.assert_array_equal(model2.body_pos[1], [0, 1, 4])
np.testing.assert_array_equal(model2.body_pos[2], [2, 3, 2])
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')
@@ -1090,6 +1091,7 @@ class SpecsTest(absltest.TestCase):
child3 = mujoco.MjSpec()
child3.assets = {'cube2.obj': 'new_cube2_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', prefix='child3-'))
self.assertIsNotNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
@@ -1098,8 +1100,8 @@ class SpecsTest(absltest.TestCase):
self.assertIsNotNone(model3)
self.assertEqual(model3.nbody, 4)
np.testing.assert_array_equal(model3.body_pos[1], [0, 1, 4])
np.testing.assert_array_equal(model3.body_pos[2], [2, 3, 2])
np.testing.assert_array_equal(model3.body_pos[3], [3, 4, 1])
np.testing.assert_array_equal(model3.body_pos[2], [3, 4, 3])
np.testing.assert_array_equal(model3.body_pos[3], [4, 5, 2])
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])