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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_test.py
+9 -9
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@@ -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()