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Change site and frame attach API.

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Old API:
```
site.attach(child_spec)
frame.attach(child_spec)
```

New API:
```
parent_spec.attach(child_spec, frame=frame_name_or_object)
parent_spec.attach(site_spec, site=site_name_or_object)
```

This enables accessing the parent object during attach, which will be used in a follow-up CL to automatically append the child assets to the parent.

PiperOrigin-RevId: 717908589
Change-Id: I0fb27e99694c954cb8ba8a8c98484ffd53a4d6db
This commit is contained in:
Alessio Quaglino
2025-01-21 07:28:44 -08:00
committed by Copybara-Service
parent bd1bbfe401
commit 4bb6aeb19f
3 changed files with 114 additions and 52 deletions
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python/mujoco/specs_test.py
+43 -2
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@@ -939,6 +939,7 @@ class SpecsTest(absltest.TestCase):
def test_attach_to_site(self):
parent = mujoco.MjSpec()
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()
@@ -954,7 +955,7 @@ class SpecsTest(absltest.TestCase):
# Attach entire spec to site and compile again.
child2 = mujoco.MjSpec()
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(site.attach(child2, prefix='child-'))
self.assertIsNotNone(parent.attach(child2, site=site, prefix='child2-'))
body2.pos = [-1, -1, -1]
model2 = parent.compile()
self.assertIsNotNone(model2)
@@ -964,6 +965,26 @@ 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])
# Attach another spec to site (referenced by name) and compile again.
child3 = mujoco.MjSpec()
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, site='site', prefix='child3-'))
body3.pos = [-2, -2, -2]
model3 = parent.compile()
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_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])
# Fail to attach to a site that does not exist.
child4 = mujoco.MjSpec()
with self.assertRaisesRegex(ValueError, 'Site not found.'):
parent.attach(child4, site='invalid_site', prefix='child3-')
def test_body_to_frame(self):
spec = mujoco.MjSpec()
body = spec.worldbody.add_body(pos=[1, 2, 3])
@@ -974,6 +995,7 @@ class SpecsTest(absltest.TestCase):
def test_attach_to_frame(self):
parent = mujoco.MjSpec()
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()
@@ -989,7 +1011,7 @@ class SpecsTest(absltest.TestCase):
# Attach entire spec to frame and compile again.
child2 = mujoco.MjSpec()
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(frame.attach(child2, prefix='child-'))
self.assertIsNotNone(parent.attach(child2, frame=frame, prefix='child-'))
body2.pos = [-1, -1, -1]
model2 = parent.compile()
self.assertIsNotNone(model2)
@@ -999,6 +1021,25 @@ 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])
# Attach another spec to frame (referenced by name) and compile again.
child3 = mujoco.MjSpec()
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, frame='frame', prefix='child3-'))
body3.pos = [-2, -2, -2]
model3 = parent.compile()
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_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])
# Fail to attach to a frame that does not exist.
child4 = mujoco.MjSpec()
with self.assertRaisesRegex(ValueError, 'Frame not found.'):
parent.attach(child4, frame='invalid_frame', prefix='child3-')
if __name__ == '__main__':
absltest.main()