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Do not delete the world child when doing spec.attach.

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PiperOrigin-RevId: 730976077
Change-Id: I9aa8133241b45883e605ec80d64ae28af2962680
This commit is contained in:
Alessio Quaglino
2025-02-25 12:01:13 -08:00
committed by Copybara-Service
parent bd66fbd046
commit d1d61925da
3 changed files with 200 additions and 14 deletions
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python/mujoco/specs_test.py
+4 -4
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@@ -991,7 +991,7 @@ class SpecsTest(absltest.TestCase):
child2.assets = {'cube2.obj': 'cube2_content'}
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child2, site=site, prefix='child2-'))
self.assertIsNone(child2.worldbody)
self.assertIsNotNone(child2.worldbody)
self.assertEqual(child2.parent, parent)
body2.pos = [-1, -1, -1]
model2 = parent.compile()
@@ -1009,7 +1009,7 @@ class SpecsTest(absltest.TestCase):
child3.assets = {'cube3.obj': 'cube3_content'}
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, site='site', prefix='child3-'))
self.assertIsNone(child3.worldbody)
self.assertIsNotNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
body3.pos = [-2, -2, -2]
model3 = parent.compile()
@@ -1062,7 +1062,7 @@ class SpecsTest(absltest.TestCase):
child2.assets = {'cube2.obj': 'cube2_content'}
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child2, frame=frame, prefix='child-'))
self.assertIsNone(child2.worldbody)
self.assertIsNotNone(child2.worldbody)
self.assertEqual(child2.parent, parent)
body2.pos = [-1, -1, -1]
model2 = parent.compile()
@@ -1080,7 +1080,7 @@ class SpecsTest(absltest.TestCase):
child3.assets = {'cube2.obj': 'new_cube2_content'}
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, frame='frame', prefix='child3-'))
self.assertIsNone(child3.worldbody)
self.assertIsNotNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
body3.pos = [-2, -2, -2]
model3 = parent.compile()