Change keyword argument asset to include in spec.from_file and …

…`spec.from_string`. PiperOrigin-RevId: 720611881 Change-Id: I92f5e72cece8d3223bc552ea4f2ef742c47cb8c9
google-deepmind · Jan 28, 2025 · 5b330ca · 5b330ca
1 parent f4096bc
commit 5b330ca
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Showing 2 changed files with 24 additions and 33 deletions.
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
@@ -71,13 +71,7 @@ using MjDoubleRefVec = Eigen::Ref<const Eigen::VectorXd>;
 
 struct MjSpec {
   MjSpec() : ptr(mj_makeSpec()) {}
-  MjSpec(raw::MjSpec* ptr,
-         const std::unordered_map<std::string, py::bytes>& assets_ = {})
-      : ptr(ptr) {
-    for (const auto& asset : assets_) {
-      assets[asset.first.c_str()] = asset.second;
-    }
-  }
+  MjSpec(raw::MjSpec* ptr) : ptr(ptr) {}
 
   // copy constructor and assignment
   MjSpec(const MjSpec& other) : ptr(mj_copySpec(other.ptr)) {
@@ -269,15 +263,15 @@ PYBIND11_MODULE(_specs, m) {
   mjSpec.def_static(
       "from_file",
       [](std::string& filename,
-         std::optional<std::unordered_map<std::string, py::bytes>>& assets)
+         std::optional<std::unordered_map<std::string, py::bytes>>& include)
           -> MjSpec {
-        const auto converted_assets = _impl::ConvertAssetsDict(assets);
+        const auto files = _impl::ConvertAssetsDict(include);
         raw::MjSpec* spec;
         {
           py::gil_scoped_release no_gil;
           char error[1024];
           spec = LoadSpecFileImpl(
-              filename, converted_assets,
+              filename, files,
               [&error](const char* filename, const mjVFS* vfs) {
                 return InterceptMjErrors(mj_parseXML)(
                     filename, vfs, error, sizeof(error));
@@ -286,43 +280,42 @@ PYBIND11_MODULE(_specs, m) {
             throw py::value_error(error);
           }
         }
-        if (assets.has_value()) {
-          return MjSpec(spec, assets.value());
-        }
         return MjSpec(spec);
       },
-      py::arg("filename"), py::arg("assets") = py::none(), R"mydelimiter(
+      py::arg("filename"), py::arg("include") = py::none(), R"mydelimiter(
     Creates a spec from an XML file.
 
     Parameters
     ----------
     filename : str
         Path to the XML file.
-    assets : dict, optional
-        A dictionary of assets to be used by the spec. The keys are asset names
-        and the values are asset contents.
-  )mydelimiter", py::return_value_policy::move);
+    include : dict, optional
+        A dictionary of xml files included by the model. The keys are file names
+        and the values are file contents.
+  )mydelimiter",
+      py::return_value_policy::move);
   mjSpec.def_static(
       "from_string",
       [](std::string& xml,
-         std::optional<std::unordered_map<std::string, py::bytes>>& assets)
+         std::optional<std::unordered_map<std::string, py::bytes>>& include)
           -> MjSpec {
-        auto converted_assets = _impl::ConvertAssetsDict(assets);
+        auto files = _impl::ConvertAssetsDict(include);
         raw::MjSpec* spec;
         {
           py::gil_scoped_release no_gil;
           std::string model_filename = "model_.xml";
-          if (assets.has_value()) {
-            while (assets->find(model_filename) != assets->end()) {
+          if (include.has_value()) {
+            while (include->find(model_filename) !=
+                   include->end()) {
               model_filename =
                   model_filename.substr(0, model_filename.size() - 4) + "_.xml";
             }
           }
-          converted_assets.emplace_back(
+          files.emplace_back(
               model_filename.c_str(), xml.c_str(), xml.length());
           char error[1024];
           spec = LoadSpecFileImpl(
-              model_filename, converted_assets,
+              model_filename, files,
               [&error](const char* filename, const mjVFS* vfs) {
                 return InterceptMjErrors(mj_parseXML)(
                     filename, vfs, error, sizeof(error));
@@ -331,22 +324,20 @@ PYBIND11_MODULE(_specs, m) {
             throw py::value_error(error);
           }
         }
-        if (assets.has_value()) {
-          return MjSpec(spec, assets.value());
-        }
         return MjSpec(spec);
       },
-      py::arg("xml"), py::arg("assets") = py::none(), R"mydelimiter(
+      py::arg("xml"), py::arg("include") = py::none(), R"mydelimiter(
     Creates a spec from an XML string.
 
     Parameters
     ----------
     xml : str
         XML string.
-    assets : dict, optional
-        A dictionary of assets to be used by the spec. The keys are asset names
-        and the values are asset contents.
-  )mydelimiter", py::return_value_policy::move);
+    include : dict, optional
+        A dictionary of xml files included by the model. The keys are file names
+        and the values are file contents.
+  )mydelimiter",
+      py::return_value_policy::move);
   mjSpec.def("recompile", [mjmodel_mjdata_from_spec_ptr](
                               const MjSpec& self, py::object m, py::object d) {
     return mjmodel_mjdata_from_spec_ptr(reinterpret_cast<uintptr_t>(self.ptr),

diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
@@ -765,7 +765,7 @@ def test_include(self):
         <include file="included.xml"/>
       </mujoco>
     """),
-        {'included.xml': included_xml.encode('utf-8')},
+        include={'included.xml': included_xml.encode('utf-8')},
     )
     self.assertEqual(
         spec.worldbody.first_body().first_geom().type, mujoco.mjtGeom.mjGEOM_BOX