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Add mjmEquality, mjmTendon and mjmWrap to C API.

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PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
This commit is contained in:
Alessio Quaglino
2024-02-10 03:29:22 -08:00
committed by Copybara-Service
parent 4ad1dc4b84
commit 1bd6a32af2
11 changed files with 423 additions and 175 deletions
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src/xml/xml_native_writer.cc
+11 -11
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@@ -559,33 +559,33 @@ void mjXWriter::OneEquality(XMLElement* elem, mjCEquality* peq, mjCDef* def) {
switch (peq->type) {
case mjEQ_CONNECT:
WriteAttrTxt(elem, "body1", peq->name1);
WriteAttrTxt(elem, "body2", peq->name2);
WriteAttrTxt(elem, "body1", mjm_getString(peq->name1));
WriteAttrTxt(elem, "body2", mjm_getString(peq->name2));
WriteAttr(elem, "anchor", 3, peq->data);
break;
case mjEQ_WELD:
WriteAttrTxt(elem, "body1", peq->name1);
WriteAttrTxt(elem, "body2", peq->name2);
WriteAttrTxt(elem, "body1", mjm_getString(peq->name1));
WriteAttrTxt(elem, "body2", mjm_getString(peq->name2));
WriteAttr(elem, "anchor", 3, peq->data);
WriteAttr(elem, "torquescale", 1, peq->data+10);
WriteAttr(elem, "relpose", 7, peq->data+3);
break;
case mjEQ_JOINT:
WriteAttrTxt(elem, "joint1", peq->name1);
WriteAttrTxt(elem, "joint2", peq->name2);
WriteAttrTxt(elem, "joint1", mjm_getString(peq->name1));
WriteAttrTxt(elem, "joint2", mjm_getString(peq->name2));
WriteAttr(elem, "polycoef", 5, peq->data);
break;
case mjEQ_TENDON:
WriteAttrTxt(elem, "tendon1", peq->name1);
WriteAttrTxt(elem, "tendon2", peq->name2);
WriteAttrTxt(elem, "tendon1", mjm_getString(peq->name1));
WriteAttrTxt(elem, "tendon2", mjm_getString(peq->name2));
WriteAttr(elem, "polycoef", 5, peq->data);
break;
case mjEQ_FLEX:
WriteAttrTxt(elem, "flex", peq->name1);
WriteAttrTxt(elem, "flex", mjm_getString(peq->name1));
break;
default:
@@ -646,9 +646,9 @@ void mjXWriter::OneTendon(XMLElement* elem, mjCTendon* pten, mjCDef* def) {
// userdata
if (writingdefaults) {
WriteVector(elem, "user", pten->userdata);
WriteVector(elem, "user", pten->get_userdata());
} else {
WriteVector(elem, "user", pten->userdata, def->tendon.userdata);
WriteVector(elem, "user", pten->get_userdata(), def->tendon.get_userdata());
}
}