Environment.from_spec(): MjSpec + objects composition#62
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Accepts an MjSpec with the robot already assembled, attaches prl_assets
objects via MjSpec.attach_body (native mesh path resolution), compiles,
and sets up the full object registry.
This enables robots that need runtime MjSpec assembly (attaching a
gripper, adding an EE site) to use Environment's object management
without saving to temp files.
Usage:
spec = mujoco.MjSpec.from_file("franka_scene.xml")
add_franka_ee_site(spec)
env = Environment.from_spec(spec, objects_dir, {"can": 3})
Closes #61
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Summary
New classmethod `Environment.from_spec(spec, objects_dir, scene_config)` that accepts an MjSpec with the robot assembled, attaches prl_assets objects via MjSpec (native mesh path resolution), compiles, and sets up the full object registry.
Problem
`Environment.init` only accepts file paths. Robots that need MjSpec assembly (attaching grippers, adding EE sites) before adding objects must save temp files, which breaks because `from_xml_string` can't resolve relative mesh paths.
Solution
`from_spec` keeps everything in MjSpec where path resolution works natively. Also accepts shorthand `{"can": 3}` in addition to the full `{"can": {"count": 3}}` format.
Test plan
Closes #61
🤖 Generated with Claude Code