From 34d4a69027b2b7267862aa58da93c18654cd7d85 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Thu, 22 Feb 2024 04:53:54 -0800
Subject: [PATCH] Remove user_objetcs and user_model includes from xml_urdf.

PiperOrigin-RevId: 609330384
Change-Id: I19b330e4063d3be4401dcf1b2b957b55e0616037
---
 src/user/user_api.cc | 12 ++++++++++++
 src/user/user_api.h  |  5 ++++-
 src/xml/xml_urdf.cc  | 14 +++++++-------
 3 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 611bea39..87e0839e 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -370,6 +370,18 @@ mjmBody* mjm_findChild(mjmBody* bodyspec, const char* name) {
 
 
 
+// find mesh by name
+mjmMesh* mjm_findMesh(mjmModel* modelspec, const char* name) {
+  mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
+  mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name));
+  if (!mesh) {
+    return nullptr;
+  }
+  return &(static_cast<mjCMesh*>(mesh)->spec);
+}
+
+
+
 // set frame
 void mjm_setFrame(mjElement dest, mjmFrame* frame) {
   if (!frame) {
diff --git a/src/user/user_api.h b/src/user/user_api.h
index 7aed24a9..4754538c 100644
--- a/src/user/user_api.h
+++ b/src/user/user_api.h
@@ -824,11 +824,14 @@ MJAPI mjmModel* mjm_getModel(mjmBody* body);
 MJAPI mjmDefault* mjm_getDefault(mjElement element);
 
 // Find body in model by name.
-MJAPI mjmBody* mjm_findBody(mjmModel* modelspec, const char* name);
+MJAPI mjmBody* mjm_findBody(mjmModel* model, const char* name);
 
 // Find child body by name.
 MJAPI mjmBody* mjm_findChild(mjmBody* body, const char* name);
 
+// Find mesh by name.
+MJAPI mjmMesh* mjm_findMesh(mjmModel* model, const char* name);
+
 // Get element id.
 MJAPI int mjm_getId(mjElement element);
 
diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
index f24ed933..872b0155 100644
--- a/src/xml/xml_urdf.cc
+++ b/src/xml/xml_urdf.cc
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <array>
 #include <cstring>
 #include <iostream>
 #include <string>
@@ -19,11 +20,10 @@
 
 #include <mujoco/mjmodel.h>
 #include "user/user_api.h"
-#include "user/user_model.h"
-#include "user/user_objects.h"
 #include "user/user_util.h"
 #include "xml/xml_native_reader.h"
 #include "xml/xml_urdf.h"
+#include "xml/xml_util.h"
 
 #include "tinyxml2.h"
 
@@ -575,7 +575,7 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
     meshname = mjuu_stripext(meshname);
 
     // look for existing mesh
-    mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, meshname);
+    mjmMesh* mesh = mjm_findMesh(&model->spec, meshname.c_str());
     mjmMesh* pmesh = 0;
 
     // does not exist: create
@@ -584,16 +584,16 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
     }
 
     // exists with different scale: append name with '1', create
-    else if (mesh->spec.scale[0]!=meshscale[0] ||
-             mesh->spec.scale[1]!=meshscale[1] ||
-             mesh->spec.scale[2]!=meshscale[2]) {
+    else if (mesh->scale[0]!=meshscale[0] ||
+             mesh->scale[1]!=meshscale[1] ||
+             mesh->scale[2]!=meshscale[2]) {
       pmesh = mjm_addMesh(&model->spec, 0);
       meshname = meshname + "1";
     }
 
     // point to already existing spec
     else {
-      pmesh = &mesh->spec;
+      pmesh = mesh;
     }
 
     // set fields