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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
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@@ -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);