Merge branch 'main' into open3d-removal

python/mujoco/specs.cc

@@ -568,7 +568,6 @@ PYBIND11_MODULE(_specs, m) {
   // ============================= MJSBODY =====================================
   mjsBody.def_property_readonly(
       "id", [](raw::MjsBody& self) -> int { return mjs_getId(self.element); });
-  mjsBody.def("delete", [](raw::MjsBody& self) { mjs_delete(self.element); });
   mjsBody.def(
       "add_body",
       [](raw::MjsBody& self, raw::MjsDefault* default_) -> raw::MjsBody* {

python/mujoco/specs_test.py

@@ -98,6 +98,34 @@ class SpecsTest(absltest.TestCase):
         </mujoco>
     """),)
 
+  def test_load_xml(self):
+    filename = '../../test/testdata/model.xml'
+    state_type = mujoco.mjtState.mjSTATE_INTEGRATION
+
+    # Load from file.
+    spec1 = mujoco.MjSpec()
+    spec1.from_file(filename)
+    model1 = spec1.compile()
+    data1 = mujoco.MjData(model1)
+    mujoco.mj_step(model1, data1)
+    size1 = mujoco.mj_stateSize(model1, state_type)
+    state1 = np.empty(size1, np.float64)
+    mujoco.mj_getState(model1, data1, state1, state_type)
+
+    # Load from string.
+    spec2 = mujoco.MjSpec()
+    with open(filename, 'r') as file:
+      spec2.from_string(file.read().rstrip())
+    model2 = spec2.compile()
+    data2 = mujoco.MjData(model2)
+    mujoco.mj_step(model2, data2)
+    size2 = mujoco.mj_stateSize(model2, state_type)
+    state2 = np.empty(size2, np.float64)
+    mujoco.mj_getState(model2, data2, state2, state_type)
+
+    # Check that the state is the same.
+    np.testing.assert_array_equal(state1, state2)
+
   def test_compile_errors_with_line_info(self):
     spec = mujoco.MjSpec()
 
@@ -269,6 +297,30 @@ class SpecsTest(absltest.TestCase):
     model = spec.compile({'cube.obj': cube})
     self.assertEqual(model.nmeshvert, 8)
 
+  def test_delete(self):
+    filename = '../../test/testdata/model.xml'
+
+    spec = mujoco.MjSpec()
+    spec.from_file(filename)
+
+    model = spec.compile()
+    self.assertIsNotNone(model)
+    self.assertEqual(model.nsite, 11)
+    self.assertEqual(model.nsensor, 11)
+
+    head = spec.find_body('head')
+    self.assertIsNotNone(head)
+    site = head.first_site()
+    self.assertIsNotNone(site)
+
+    site.delete()
+    spec.sensors[-1].delete()
+    spec.sensors[-1].delete()
+
+    model = spec.compile()
+    self.assertIsNotNone(model)
+    self.assertEqual(model.nsite, 10)
+    self.assertEqual(model.nsensor, 9)
 
 if __name__ == '__main__':
   absltest.main()

python/mujoco/structs.cc

@@ -16,7 +16,9 @@
 
 #include <Python.h>
 
+#include <algorithm>
 #include <array>
+#include <cctype>
 #include <cstddef>
 #include <cstdint>
 #include <cstring>
@@ -84,6 +86,22 @@ constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
 inline std::size_t NConMax(const mjData* d) {
   return d->narena / sizeof(mjContact);
 }
+
+// strip path prefix from filename and make lowercase
+std::string StripPath(const char* name) {
+  std::string filename(name);
+  size_t start = filename.find_last_of("/\\");
+
+  // get name without path
+  if (start != std::string::npos) {
+    filename = filename.substr(start + 1, filename.size() - start - 1);
+  }
+
+  // make lowercase
+  std::transform(filename.begin(), filename.end(), filename.begin(),
+                 [](unsigned char c) { return std::tolower(c); });
+  return filename;
+}
 }  // namespace
 
 // ==================== MJOPTION ===============================================
@@ -323,8 +341,9 @@ static raw::MjModel* LoadModelFileImpl(
     mj_defaultVFS(&vfs);
     vfs_ptr = &vfs;
     for (const auto& asset : assets) {
+      std::string buffer_name = StripPath(asset.name);
       const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
-          vfs_ptr, asset.name, asset.content, asset.content_size);
+          vfs_ptr, buffer_name.c_str(), asset.content, asset.content_size);
       if (vfs_error) {
         throw py::value_error("assets dict is too big");
       }