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Add mjmGeom to C API.

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PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
This commit is contained in:
Alessio Quaglino
2024-02-08 06:51:44 -08:00
committed by Copybara-Service
parent 3baab3784a
commit 1fe258fb60
14 changed files with 384 additions and 276 deletions
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src/xml/xml_urdf.cc
+7 -7
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@@ -223,7 +223,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
std::string name, text;
XMLElement *elem, *temp, *temp1;
mjmBody *pbody, *world;
mjCGeom* pgeom;
mjmGeom* pgeom;
// get body name and pointer to mjmBody
ReadAttrTxt(body_elem, "name", name, true);
@@ -322,7 +322,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
mjXUtil::ReadAttrTxt(elem, "name", geom_name);
name = GetPrefixedName(name);
if (urGeomNames.find(geom_name) == urGeomNames.end()) {
pgeom->name = geom_name;
mjm_setString(pgeom->name, geom_name.c_str());
urGeomNames.insert(geom_name);
} else {
std::cerr << "WARNING: Geom with duplicate name '" << geom_name
@@ -345,7 +345,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
mjXUtil::ReadAttrTxt(elem, "name", geom_name);
geom_name = GetPrefixedName(geom_name);
if (urGeomNames.find(geom_name) == urGeomNames.end()) {
pgeom->name = geom_name;
mjm_setString(pgeom->name, geom_name.c_str());
urGeomNames.insert(geom_name);
} else {
std::cerr << "WARNING: Geom with duplicate name '" << geom_name
@@ -501,7 +501,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
// parse origin and geometry elements of visual or collision
mjCGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
XMLElement *elem, *temp;
std::string text, meshfile;
@@ -509,8 +509,8 @@ mjCGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
elem = FindSubElem(geom_elem, "geometry", true);
// add BOX geom, modify type later
mjCGeom* pgeom = (mjCGeom*)mjm_addGeom(pbody, 0);
pgeom->name = "";
mjmGeom* pgeom = mjm_addGeom(pbody, 0);
mjm_setString(pgeom->name, "");
pgeom->type = mjGEOM_BOX;
if (collision) {
pgeom->contype = 1;
@@ -589,7 +589,7 @@ mjCGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
// set fields
pmesh->set_file(meshfile);
pmesh->name = meshname;
pgeom->meshname = meshname;
mjm_setString(pgeom->meshname, meshname.c_str());
pmesh->set_scale(meshscale);
}