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Do not copy the spec during attach.

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Use a reference count for managing the memory.

PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
This commit is contained in:
Alessio Quaglino
2025-01-16 03:52:31 -08:00
committed by Copybara-Service
parent 6436055c6c
commit c2138c3fb0
19 changed files with 505 additions and 173 deletions
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doc/python.rst
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@@ -531,15 +531,19 @@ Attachment
It is possible to combine multiple specs by using attachments. The following options are possible:
- Attach a body from the child spec to a frame in the parent spec: ``body.attach_body(body, prefix, suffix)``, returns
the newly createdbody in the parent spec.
the reference to the attached body, which should be identical to the body used as input.
- Attach a frame from the child spec to a body in the parent spec: ``body.attach_frame(frame, prefix, suffix)``,
returns the newly created frame in the parent spec.
returns the reference to the attached frame, which should be identical to the frame used as input.
- Attach a body from the child spec to a site in the parent spec: ``site.attach(body, prefix, suffix)``, returns the
newly created body in the parent spec.
reference to the attached body, which should be identical to the body used as input.
- Attach the worldbody from the child spec to a frame in the parent spec and transform it to a frame:
``body.attach(spec, prefix, suffix)``, returns the newly created frame that the child worldbody was transformed
into.
Attaching does not copy, so all the child reference are still valid in the parent and therefore modifying the child will
modify the parent. This is not true for the attach :ref:`attach<body-attach>` an :ref:`replicate<replicate>`
meta-elements in MJCF, which create deep copies while attaching.
.. code-block:: python
import mujoco