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Move meshdir and texturedir to mjsCompiler.

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For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.

Fixes #2834.

PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
This commit is contained in:
Alessio Quaglino
2025-09-19 09:04:42 -07:00
committed by Copybara-Service
parent 681f5767b2
commit 77e025ea98
16 changed files with 98 additions and 79 deletions
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test/user/user_api_test.cc
+2 -2
View File
@@ -2631,7 +2631,7 @@ TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
mj_deleteModel(m_attached);
}
TEST_F(MujocoTest, CopyAttachedSpec) {
TEST_F(MujocoTest, NotCopyAttachedSpec) {
static constexpr char xml_parent[] = R"(
<mujoco>
<asset>
@@ -2675,7 +2675,7 @@ TEST_F(MujocoTest, CopyAttachedSpec) {
mjSpec* child_copy = mjs_findSpec(copy, "child");
EXPECT_THAT(child_copy, NotNull());
EXPECT_NE(child_copy, child);
EXPECT_EQ(child_copy, child);
mj_deleteSpec(spec);
mj_deleteSpec(copy);
test/user/user_model_test.cc
+2 -2
View File
@@ -781,7 +781,7 @@ TEST_F(MujocoTest, Modeldir) {
mjsMesh* mesh = mjs_addMesh(child, 0);
mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), 0);
mjsGeom* geom = mjs_addGeom(mjs_findBody(child, "world"), 0);
mjs_setString(child->meshdir, "meshdir");
mjs_setString(child->compiler.meshdir, "meshdir");
mjs_setString(mesh->file, "cube.obj");
mjs_setName(mesh->element, "cube");
mjs_setString(geom->meshname, "cube");
@@ -791,7 +791,7 @@ TEST_F(MujocoTest, Modeldir) {
// parent attaching the child
mjSpec* spec = mj_makeSpec();
mjs_setDeepCopy(spec, true);
mjs_setString(spec->meshdir, "asset");
mjs_setString(spec->compiler.meshdir, "asset");
mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull());