PyMJCF: Don't replace '/' -> '\' in attributes that may contain fil…

…esystem path information.

PiperOrigin-RevId: 631419245
Change-Id: I317bae0b5b6d6041baaf1ca663cd5628012831a0

dm_control/mjcf/export_with_assets_test.py

@@ -28,6 +28,8 @@
 _ASSETS_DIR = os.path.join(os.path.dirname(__file__), 'test_assets')
 _TEST_MODEL_WITH_ASSETS = os.path.join(_ASSETS_DIR, 'model_with_assets.xml')
 _TEST_MODEL_WITH_ASSETDIR = os.path.join(_ASSETS_DIR, 'model_with_assetdir.xml')
+_TEST_MODEL_WITH_SEPARATORS = os.path.join(_ASSETS_DIR,
+                                           'model_with_separators.xml')
 _TEST_MODEL_WITHOUT_ASSETS = os.path.join(_ASSETS_DIR, 'lego_brick.xml')
 
 
@@ -89,6 +91,15 @@ def test_default_model_filename(self):
     expected_name = mjcf_model.model + '.xml'
     self.assertTrue(os.path.isfile(os.path.join(out_dir, expected_name)))
 
+  def test_model_with_separators(self):
+    out_dir = self.create_tempdir().full_path
+    mjcf_model = mjcf.from_path(
+        _TEST_MODEL_WITH_SEPARATORS, escape_separators=True
+    )
+    mjcf.export_with_assets(mjcf_model, out_dir, out_file_name=None)
+    expected_name = mjcf_model.model + '.xml'
+    self.assertTrue(os.path.isfile(os.path.join(out_dir, expected_name)))
+
   def test_exceptions(self):
     out_dir = self.create_tempdir().full_path
     mjcf_model = mjcf.from_path(_TEST_MODEL_WITH_ASSETS)

dm_control/mjcf/parser.py

@@ -199,12 +199,19 @@ def _parse_children(xml_element, mjcf_element, escape_separators=False):
       if escape_separators:
         attributes = {}
         for name, value in xml_child.attrib.items():
-          new_value = value.replace(
-              constants.PREFIX_SEPARATOR_ESCAPE,
-              constants.PREFIX_SEPARATOR_ESCAPE * 2)
-          new_value = new_value.replace(
-              constants.PREFIX_SEPARATOR, constants.PREFIX_SEPARATOR_ESCAPE)
-          attributes[name] = new_value
+          # skip flipping the slash for fields that may contain paths, like
+          # custom text and asset file.
+          if name in ['data', 'file', 'meshdir', 'assetdir', 'texturedir',
+                      'content_type', 'fileleft', 'fileright', 'fileback',
+                      'filefront', 'plugin', 'key', 'value']:
+            attributes[name] = value
+          else:
+            new_value = value.replace(
+                constants.PREFIX_SEPARATOR_ESCAPE,
+                constants.PREFIX_SEPARATOR_ESCAPE * 2)
+            new_value = new_value.replace(
+                constants.PREFIX_SEPARATOR, constants.PREFIX_SEPARATOR_ESCAPE)
+            attributes[name] = new_value
       else:
         attributes = dict(xml_child.attrib)
       if child_spec.repeated or child_spec.on_demand:

dm_control/mjcf/test_assets/model_with_separators.xml

@@ -0,0 +1,19 @@
+<mujoco model="Textured cube and mesh">
+  <compiler meshdir="meshes" texturedir="textures"/>
+  <asset>
+    <mesh name="cube" file="cube.stl"/>
+    <mesh name="another_cube" file="more_meshes/cube.stl"/>
+    <mesh name="unused_asset_should_not_cause_problems" file="cube.stl"/>
+    <mesh name="cube_msh" file="cube.msh"/>
+    <texture name="texture" file="deepmind.png"/>
+    <material name="mat_texture" texture="texture"/>
+    <hfield name="hill" file="../textures/deepmind.png" size="0.5 0.5 0.5 0.1"/>
+  </asset>
+  <worldbody>
+    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
+    <geom name="left/cube" type="mesh" mesh="cube" material="mat_texture"/>
+    <geom name="right/cube" type="mesh" mesh="another_cube" material="mat_texture" pos="2.5 0. 0."/>
+    <geom type="mesh" mesh="cube_msh" material="mat_texture" pos="4. 0. 0."/>
+    <geom type="hfield" hfield="hill" pos="1.2 0. 0" rgba="0. 0.9 0. 1" size="40 40 0.1"/>
+  </worldbody>
+</mujoco>