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Suffix asset names when attaching specs.

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PiperOrigin-RevId: 794717786
Change-Id: I02abe06ca3c43138e91e61f4acf87a26b3faf7fc
This commit is contained in:
Alessio Quaglino
2025-08-13 13:42:33 -07:00
committed by Copybara-Service
parent dcdf0a9c5c
commit eff4dda189
2 changed files with 49 additions and 11 deletions
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python/mujoco/specs.cc
+40 -2
View File
@@ -176,6 +176,22 @@ py::list FindAllImpl(raw::MjsBody& body, mjtObj objtype, bool recursive) {
return list; // list of pointers, so they can be copied
}
static std::string addSuffixBeforeExtension(const std::string& original_path,
const std::string& suffix_to_add) {
// Find the position of the last dot
size_t dot_pos = original_path.rfind('.');
// Check if a dot was found
if (dot_pos != std::string::npos) {
std::string new_path = original_path;
new_path.insert(dot_pos, suffix_to_add);
return new_path;
} else {
// No extension found, just append
return original_path + suffix_to_add;
}
}
PYBIND11_MODULE(_specs, m) {
auto structs_m = py::module::import("mujoco._structs");
py::function mjmodel_from_raw_ptr =
@@ -471,13 +487,35 @@ PYBIND11_MODULE(_specs, m) {
throw pybind11::value_error(mjs_getError(self.ptr));
}
}
// append the assets adding the suffix to their path
std::string suff(s);
for (const auto& asset : child.assets) {
if (self.assets.contains(asset.first) && !self.override_assets) {
std::string asset_name =
addSuffixBeforeExtension(asset.first.cast<std::string>(), suff);
if (self.assets.contains(asset_name) && !self.override_assets) {
throw pybind11::value_error("Asset " +
asset.first.cast<std::string>() +
" already exists in parent spec.");
}
self.assets[asset.first] = asset.second;
self.assets[py::str(asset_name)] = asset.second;
}
raw::MjsElement* mesh = mjs_firstElement(child.ptr, mjOBJ_MESH);
while (mesh) {
std::string file = mjs_getString(mjs_asMesh(mesh)->file);
if (!file.empty()) {
std::string mesh_file = addSuffixBeforeExtension(file, suff);
mjs_setString(mjs_asMesh(mesh)->file, mesh_file.c_str());
}
mesh = mjs_nextElement(child.ptr, mesh);
}
raw::MjsElement* tex = mjs_firstElement(child.ptr, mjOBJ_TEXTURE);
while (tex) {
std::string file = mjs_getString(mjs_asTexture(tex)->file);
if (!file.empty()) {
std::string tex_file = addSuffixBeforeExtension(file, suff);
mjs_setString(mjs_asTexture(tex)->file, tex_file.c_str());
}
tex = mjs_nextElement(child.ptr, tex);
}
child.parent = &self;
return mjs_asFrame(attached_frame);
python/mujoco/specs_test.py
+9 -9
View File
@@ -1069,7 +1069,7 @@ class SpecsTest(absltest.TestCase):
child2 = mujoco.MjSpec()
child2.assets = {'cube2.obj': 'cube2_content'}
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child2, site=site, prefix='child2-'))
self.assertIsNotNone(parent.attach(child2, site=site, suffix='-child2'))
self.assertIsNotNone(child2.worldbody)
self.assertEqual(child2.parent, parent)
body2.pos = [-1, -1, -1]
@@ -1081,13 +1081,13 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(model2.body_quat[1], [0, 0, 0, 1])
np.testing.assert_array_equal(model2.body_quat[2], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['cube2.obj'], 'cube2_content')
self.assertEqual(parent.assets['cube2-child2.obj'], 'cube2_content')
# Attach another spec to site (referenced by name) and compile again.
child3 = mujoco.MjSpec()
child3.assets = {'cube3.obj': 'cube3_content'}
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, site='site', prefix='child3-'))
self.assertIsNotNone(parent.attach(child3, site='site', suffix='-child3'))
self.assertIsNotNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
body3.pos = [-2, -2, -2]
@@ -1101,8 +1101,8 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(model3.body_quat[2], [0, 0, 0, 1])
np.testing.assert_array_equal(model3.body_quat[3], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['cube2.obj'], 'cube2_content')
self.assertEqual(parent.assets['cube3.obj'], 'cube3_content')
self.assertEqual(parent.assets['cube2-child2.obj'], 'cube2_content')
self.assertEqual(parent.assets['cube3-child3.obj'], 'cube3_content')
# Fail to attach to a site that does not exist.
child4 = mujoco.MjSpec()
@@ -1150,7 +1150,7 @@ class SpecsTest(absltest.TestCase):
child2.assets = {'cube2.obj': 'cube2_content'}
body2 = child2.worldbody.add_body(name='body')
body2.set_frame(child2.worldbody.add_frame(pos=[-1, -1, 1]))
self.assertIsNotNone(parent.attach(child2, frame=frame, prefix='child-'))
self.assertIsNotNone(parent.attach(child2, frame=frame, suffix='-child'))
self.assertIsNotNone(child2.worldbody)
self.assertEqual(child2.parent, parent)
body2.pos = [-1, -1, -1]
@@ -1162,14 +1162,14 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(model2.body_quat[1], [0, 0, 0, 1])
np.testing.assert_array_equal(model2.body_quat[2], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['cube2.obj'], 'cube2_content')
self.assertEqual(parent.assets['cube2-child.obj'], 'cube2_content')
# Attach another spec to frame (referenced by name) and compile again.
child3 = mujoco.MjSpec()
child3.assets = {'cube2.obj': 'new_cube2_content'}
body3 = child3.worldbody.add_body(name='body')
body3.set_frame(child3.worldbody.add_frame(pos=[-1, -1, 1]))
self.assertIsNotNone(parent.attach(child3, frame='frame', prefix='child3-'))
self.assertIsNotNone(parent.attach(child3, frame='frame', suffix='-child3'))
self.assertIsNotNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
body3.pos = [-2, -2, -2]
@@ -1183,7 +1183,7 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(model3.body_quat[2], [0, 0, 0, 1])
np.testing.assert_array_equal(model3.body_quat[3], [0, 0, 0, 1])
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
self.assertEqual(parent.assets['cube2.obj'], 'new_cube2_content')
self.assertEqual(parent.assets['cube2-child3.obj'], 'new_cube2_content')
# Fail to attach to a frame that does not exist.
child4 = mujoco.MjSpec()