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Remove modelfiledir_ from compiled assets, use owning spec modelfiledir instead.

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Previously specs that were attached to some parent spec would resolve its asset paths relative to the modelfiledir of the parent spec. This means path resolution would change depending on the source of the parent spec. Instead, this change makes asset file path resolution relative to the "owning spec" i.e. the spec where the asset was created.

This enables workflows such as loading a parent spec via resource provider, then loading a child spec via `from_zip` or in memory providing `spec.assets` and resolution will work as intended.

PiperOrigin-RevId: 903207910
Change-Id: Ia58020ab372a3ceadf31e804d145e2ae53d8e5f9
This commit is contained in:
Sam Haves
2026-04-21 06:59:17 -07:00
committed by Copybara-Service
parent 3325971840
commit da01bd37a2
5 changed files with 114 additions and 44 deletions
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test/user/user_api_test.cc
+99
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@@ -19,6 +19,7 @@
#include <cctype>
#include <cstddef>
#include <cstdint>
#include <cstring>
#include <filesystem> // NOLINT
#include <functional>
#include <map>
@@ -32,6 +33,7 @@
#include "src/cc/array_safety.h"
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include <mujoco/mjplugin.h>
#include "src/xml/xml_api.h"
#include "src/xml/xml_numeric_format.h"
#include "test/fixture.h"
@@ -203,6 +205,103 @@ TEST_F(MujocoTest, AttachAndChildDeletion) {
mj_deleteSpec(parent_spec);
}
int open_mock(mjResource* resource) {
static const char parent_xml[] = R"(
<mujoco>
<worldbody>
<body name="parent_body"/>
</worldbody>
</mujoco>
)";
resource->data = mju_malloc(sizeof(parent_xml));
std::strcpy((char*)resource->data, parent_xml);
return 1;
}
int read_mock(mjResource* resource, const void** buffer) {
*buffer = resource->data;
return std::strlen((const char*)resource->data);
}
void close_mock(mjResource* resource) {
mju_free(resource->data);
resource->data = nullptr;
}
TEST_F(MujocoTest, AttachedSpecDoesNotInheritURI) {
// This test checks that when we attach a child spec to a parent spec that was
// loaded from a resource provider, the child spec does not inherit the
// resource URI from the parent. This allows the child spec to specify assets
// relative to its model file or in the VFS.
mjpResourceProvider provider = {
.prefix = "fakeprovider",
.open = open_mock,
.read = read_mock,
.close = close_mock,
};
mjp_registerResourceProvider(&provider);
std::array<char, 1024> err;
mjSpec* parent_spec =
mj_parseXML("fakeprovider:parent.xml", nullptr, err.data(), err.size());
mjs_setString(parent_spec->modelname, "parent");
ASSERT_THAT(parent_spec, NotNull()) << err.data();
// Create child spec
static constexpr char child_xml[] = R"(
<mujoco>
<worldbody>
<body name="child_body">
<geom type="mesh" mesh="asset"/>
</body>
</worldbody>
<asset>
<mesh name="asset" file="asset.obj"/>
</asset>
</mujoco>
)";
// Setup VFS with asset
mjVFS vfs;
mj_defaultVFS(&vfs);
static constexpr char asset_data[] = R"(
v 0 0 0
v 1 0 0
v 0 1 0
v 0 0 1
f 1 2 3
f 1 2 4
f 2 3 4
f 3 1 4
)";
mj_addBufferVFS(&vfs, "asset.obj", asset_data, sizeof(asset_data));
mjSpec* child_spec =
mj_parseXMLString(child_xml, &vfs, err.data(), err.size());
mjs_setString(child_spec->modelname, "child");
ASSERT_THAT(child_spec, NotNull()) << err.data();
// Attach child spec to parent spec's world body
mjsBody* world = mjs_findBody(parent_spec, "world");
ASSERT_THAT(world, NotNull());
mjsElement* attached =
mjs_attach(world->element, child_spec->element, "", "");
ASSERT_THAT(attached, NotNull());
mjModel* model = mj_compile(parent_spec, &vfs);
mj_deleteVFS(&vfs);
EXPECT_THAT(model, NotNull()) << mjs_getError(parent_spec);
if (model) {
mj_deleteModel(model);
}
mj_deleteSpec(parent_spec);
mj_deleteSpec(child_spec);
}
TEST_F(MujocoTest, ActivatePlugin) {
mjSpec* spec = mj_makeSpec();
mjs_activatePlugin(spec, "mujoco.elasticity.cable");