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Use "/" as default prefix during attach if not specified.

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The user can recover the old behavior by passing prefix="".

This enables to attach children with default and save a valid result to XML.

PiperOrigin-RevId: 825011185
Change-Id: Id20c2589da928bf92b77bdb01cfba73dfc1d2f52
This commit is contained in:
Alessio Quaglino
2025-10-28 06:39:44 -07:00
committed by Copybara-Service
parent 1bfa8b6fa6
commit 2bdea1a0aa
2 changed files with 4 additions and 4 deletions
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python/mujoco/specs.cc
+1 -1
View File
@@ -465,7 +465,7 @@ PYBIND11_MODULE(_specs, m) {
throw pybind11::value_error(
"Only one of frame or site can be specified.");
}
const char* p = prefix.has_value() ? prefix.value().c_str() : "";
const char* p = prefix.has_value() ? prefix.value().c_str() : "/";
const char* s = suffix.has_value() ? suffix.value().c_str() : "";
raw::MjsElement* attached_frame = nullptr;
if (frame.has_value()) {
python/mujoco/specs_test.py
+3 -3
View File
@@ -1095,7 +1095,7 @@ class SpecsTest(absltest.TestCase):
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['path/cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/cube2-child2.obj'], 'cube2_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()
@@ -1115,7 +1115,7 @@ class SpecsTest(absltest.TestCase):
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['path/cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/cube2-child2.obj'], 'cube2_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.
@@ -1176,7 +1176,7 @@ class SpecsTest(absltest.TestCase):
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['path/cube.obj'], 'cube_content')
self.assertEqual(parent.assets['path/cube2-child.obj'], 'cube2_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()