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rename mjspec api structs and functions mjm -> mjs

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PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
This commit is contained in:
Yuval Tassa
2024-03-21 18:04:06 -07:00
committed by Copybara-Service
parent f0ad80f268
commit 4660a297d1
22 changed files with 960 additions and 959 deletions
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src/xml/xml_native_writer.cc
+14 -14
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@@ -553,33 +553,33 @@ void mjXWriter::OneEquality(XMLElement* elem, mjCEquality* peq, mjCDef* def) {
switch (peq->type) {
case mjEQ_CONNECT:
WriteAttrTxt(elem, "body1", mjm_getString(peq->name1));
WriteAttrTxt(elem, "body2", mjm_getString(peq->name2));
WriteAttrTxt(elem, "body1", mjs_getString(peq->name1));
WriteAttrTxt(elem, "body2", mjs_getString(peq->name2));
WriteAttr(elem, "anchor", 3, peq->data);
break;
case mjEQ_WELD:
WriteAttrTxt(elem, "body1", mjm_getString(peq->name1));
WriteAttrTxt(elem, "body2", mjm_getString(peq->name2));
WriteAttrTxt(elem, "body1", mjs_getString(peq->name1));
WriteAttrTxt(elem, "body2", mjs_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", mjm_getString(peq->name1));
WriteAttrTxt(elem, "joint2", mjm_getString(peq->name2));
WriteAttrTxt(elem, "joint1", mjs_getString(peq->name1));
WriteAttrTxt(elem, "joint2", mjs_getString(peq->name2));
WriteAttr(elem, "polycoef", 5, peq->data);
break;
case mjEQ_TENDON:
WriteAttrTxt(elem, "tendon1", mjm_getString(peq->name1));
WriteAttrTxt(elem, "tendon2", mjm_getString(peq->name2));
WriteAttrTxt(elem, "tendon1", mjs_getString(peq->name1));
WriteAttrTxt(elem, "tendon2", mjs_getString(peq->name2));
WriteAttr(elem, "polycoef", 5, peq->data);
break;
case mjEQ_FLEX:
WriteAttrTxt(elem, "flex", mjm_getString(peq->name1));
WriteAttrTxt(elem, "flex", mjs_getString(peq->name1));
break;
default:
@@ -731,9 +731,9 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// write plugin
void mjXWriter::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
const std::string instance_name = std::string(mjm_getString(plugin->instance_name));
const std::string plugin_name = std::string(mjm_getString(plugin->name));
void mjXWriter::OnePlugin(XMLElement* elem, mjsPlugin* plugin) {
const std::string instance_name = std::string(mjs_getString(plugin->instance_name));
const std::string plugin_name = std::string(mjs_getString(plugin->name));
if (!instance_name.empty()) {
WriteAttrTxt(elem, "instance", instance_name);
} else {
@@ -783,13 +783,13 @@ string mjXWriter::Write(char *error, size_t error_sz) {
// create document and root
XMLDocument doc;
XMLElement* root = doc.NewElement("mujoco");
root->SetAttribute("model", mjm_getString(model->modelname));
root->SetAttribute("model", mjs_getString(model->modelname));
// insert root
doc.InsertFirstChild(root);
// write comment if present
string text = mjm_getString(model->comment);
string text = mjs_getString(model->comment);
if (!text.empty()) {
XMLComment* comment = doc.NewComment(text.c_str());
root->LinkEndChild(comment);