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Add mjs_getCompiler C API and compiler property to Python spec elements.

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PiperOrigin-RevId: 881488083
Change-Id: I3aa1c0562bf2fd27057b8056048e3156fc1b067c
This commit is contained in:
Sam Haves
2026-03-10 09:56:50 -07:00
committed by Copybara-Service
parent d6aac2041e
commit 6890e133c0
9 changed files with 96 additions and 0 deletions
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python/mujoco/specs_test.py
+30
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@@ -1188,6 +1188,36 @@ class SpecsTest(absltest.TestCase):
model = parent.compile()
np.testing.assert_almost_equal(model.body_quat[1], [1, 0, 0, 0])
def test_compiler_from_element(self):
child = mujoco.MjSpec()
child.meshdir = '/child/meshes'
child.texturedir = '/child/textures'
child_body = child.worldbody.add_body()
child_geom = child_body.add_geom()
child_geom.size[0] = 1
child_site = child_body.add_site()
parent = mujoco.MjSpec()
parent.meshdir = '/parent/meshes'
parent.texturedir = '/parent/textures'
parent_geom = parent.worldbody.add_geom()
parent_geom.size[0] = 1
parent_site = parent.worldbody.add_site()
self.assertEqual(parent_geom.compiler.meshdir, '/parent/meshes')
self.assertEqual(parent_geom.compiler.texturedir, '/parent/textures')
self.assertEqual(child_geom.compiler.meshdir, '/child/meshes')
self.assertEqual(child_site.compiler.meshdir, '/child/meshes')
frame = parent.worldbody.add_frame()
frame.attach_body(child_body, prefix='child-')
self.assertEqual(parent_geom.compiler.meshdir, '/parent/meshes')
self.assertEqual(parent_site.compiler.meshdir, '/parent/meshes')
self.assertEqual(child_geom.compiler.meshdir, '/child/meshes')
self.assertEqual(child_geom.compiler.texturedir, '/child/textures')
self.assertEqual(child_site.compiler.meshdir, '/child/meshes')
def test_attach_to_site(self):
parent = mujoco.MjSpec()
parent.assets = {'path/cube.obj': 'cube_content'}