Replace xmlpos with info string for mjCError.

PiperOrigin-RevId: 603759456
Change-Id: I0d86d8e61e31a70da77169107268728d6c052778

src/user/user_objects.cc

@@ -114,9 +114,9 @@ mjCError::mjCError(const mjCBase* obj, const char* msg, const char* str, int pos
   // append info from mjCBase object
   if (obj) {
     // with or without xml position
-    if (obj->xmlpos[0]>= 0) {
-      mju::sprintf_arr(temp, "Object name = %s, id = %d, line = %d, column = %d",
-                       obj->name.c_str(), obj->id, obj->xmlpos[0], obj->xmlpos[1]);
+    if (!obj->info.empty()) {
+      mju::sprintf_arr(temp, "Object name = %s, id = %d, %s",
+                       obj->name.c_str(), obj->id, obj->info.c_str());
     } else {
       mju::sprintf_arr(temp, "Object name = %s, id = %d", obj->name.c_str(), obj->id);
     }
@@ -512,7 +512,7 @@ mjCBase::mjCBase() {
   name.clear();
   classname.clear();
   id = -1;
-  xmlpos[0] = xmlpos[1] = -1;
+  info = "";
   model = 0;
   def = 0;
   frame = nullptr;
@@ -3548,11 +3548,10 @@ mjCTendon::~mjCTendon() {
 
 
 // add site as wrap object
-void mjCTendon::WrapSite(string name, int row, int col) {
+void mjCTendon::WrapSite(string name, std::string_view info) {
   // create wrap object
   mjCWrap* wrap = new mjCWrap(model, this);
-  wrap->xmlpos[0] = row;
-  wrap->xmlpos[1] = col;
+  wrap->info = info;
 
   // set parameters, add to path
   wrap->type = mjWRAP_SITE;
@@ -3564,11 +3563,10 @@ void mjCTendon::WrapSite(string name, int row, int col) {
 
 
 // add geom (with side site) as wrap object
-void mjCTendon::WrapGeom(string name, string sidesite, int row, int col) {
+void mjCTendon::WrapGeom(string name, string sidesite, std::string_view info) {
   // create wrap object
   mjCWrap* wrap = new mjCWrap(model, this);
-  wrap->xmlpos[0] = row;
-  wrap->xmlpos[1] = col;
+  wrap->info = info;
 
   // set parameters, add to path
   wrap->type = mjWRAP_SPHERE;         // replace with cylinder later if needed
@@ -3581,11 +3579,10 @@ void mjCTendon::WrapGeom(string name, string sidesite, int row, int col) {
 
 
 // add joint as wrap object
-void mjCTendon::WrapJoint(string name, double coef, int row, int col) {
+void mjCTendon::WrapJoint(string name, double coef, std::string_view info) {
   // create wrap object
   mjCWrap* wrap = new mjCWrap(model, this);
-  wrap->xmlpos[0] = row;
-  wrap->xmlpos[1] = col;
+  wrap->info = info;
 
   // set parameters, add to path
   wrap->type = mjWRAP_JOINT;
@@ -3598,11 +3595,10 @@ void mjCTendon::WrapJoint(string name, double coef, int row, int col) {
 
 
 // add pulley
-void mjCTendon::WrapPulley(double divisor, int row, int col) {
+void mjCTendon::WrapPulley(double divisor, std::string_view info) {
   // create wrap object
   mjCWrap* wrap = new mjCWrap(model, this);
-  wrap->xmlpos[0] = row;
-  wrap->xmlpos[1] = col;
+  wrap->info = info;
 
   // set parameters, add to path
   wrap->type = mjWRAP_PULLEY;

src/user/user_objects.h

@@ -198,7 +198,7 @@ class mjCBase {
   std::string name;               // object name
   std::string classname;          // defaults class name
   int id;                         // object id
-  int xmlpos[2];                  // row and column in xml file
+  std::string info;               // error message info set by the user
   mjCDef* def;                    // defaults class used to init this object
   mjCModel* model;                // pointer to model that created object
   mjCFrame* frame;                // pointer to frame transformation
@@ -1089,10 +1089,10 @@ class mjCTendon : public mjCBase {
   std::string& get_material() { return material_; }
 
   // API for adding wrapping objects
-  void WrapSite(std::string name, int row=-1, int col=-1);                    // site
-  void WrapGeom(std::string name, std::string side, int row=-1, int col=-1);  // geom
-  void WrapJoint(std::string name, double coef, int row=-1, int col=-1);      // joint
-  void WrapPulley(double divisor, int row=-1, int col=-1);                    // pulley
+  void WrapSite(std::string name, std::string_view info = "");                    // site
+  void WrapGeom(std::string name, std::string side, std::string_view info = "");  // geom
+  void WrapJoint(std::string name, double coef, std::string_view info = "");      // joint
+  void WrapPulley(double divisor, std::string_view info = "");                    // pulley
 
   // API for access to wrapping objects
   int NumWraps(void);                         // number of wraps

src/xml/xml_native_reader.cc

@@ -3293,7 +3293,7 @@ void mjXReader::Tendon(XMLElement* section) {
       // read attributes depending on type
       if (wrap=="site") {
         ReadAttrTxt(sub, "site", text, true);
-        pten->WrapSite(text, sub->GetLineNum());
+        pten->WrapSite(text, "line = " + std::to_string(sub->GetLineNum()));
       }
 
       else if (wrap=="geom") {
@@ -3301,18 +3301,18 @@ void mjXReader::Tendon(XMLElement* section) {
         if (!ReadAttrTxt(sub, "sidesite", text1)) {
           text1.clear();
         }
-        pten->WrapGeom(text, text1, sub->GetLineNum());
+        pten->WrapGeom(text, text1, "line = " + std::to_string(sub->GetLineNum()));
       }
 
       else if (wrap=="pulley") {
         ReadAttr(sub, "divisor", 1, &data, text, true);
-        pten->WrapPulley(data, sub->GetLineNum());
+        pten->WrapPulley(data, "line = " + std::to_string(sub->GetLineNum()));
       }
 
       else if (wrap=="joint") {
         ReadAttrTxt(sub, "joint", text, true);
         ReadAttr(sub, "coef", 1, &data, text1, true);
-        pten->WrapJoint(text, data, sub->GetLineNum());
+        pten->WrapJoint(text, data, "line = " + std::to_string(sub->GetLineNum()));
       }
 
       else {
@@ -3743,6 +3743,5 @@ mjCDef* mjXReader::GetClass(XMLElement* section) {
 
 // get xml position
 void mjXReader::GetXMLPos(XMLElement* elem, mjCBase* obj) {
-  obj->xmlpos[0] = elem->GetLineNum();
-  obj->xmlpos[1] = -1;
+  obj->info = "line = " + std::to_string(elem->GetLineNum());
 }