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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_urdf.cc
+47 -47
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@@ -112,7 +112,7 @@ void mjXURDF::Parse(
// get model name
std::string modelname;
if (ReadAttrTxt(root, "name", modelname)) {
mjm_setString(model->modelname, modelname.c_str());
mjs_setString(model->modelname, modelname.c_str());
}
// find and register all materials
@@ -206,16 +206,16 @@ void mjXURDF::Parse(
// override the pose for the base link and add a free joint
for (int i = 0; i < (int)urName.size(); i++) {
if (urParent[i] < 0) {
mjmBody* world = mjm_findBody(model, "world");
mjmBody* pbody = mjm_findChild(world, urName[i].c_str());
mjsBody* world = mjs_findBody(model, "world");
mjsBody* pbody = mjs_findChild(world, urName[i].c_str());
mjuu_copyvec(pbody->pos, pos, 3);
mjuu_copyvec(pbody->quat, quat, 4);
// add a free joint to allow motion of the body
// if the mass is 0, assume the object is static
if (!static_body && pbody->mass > 0) {
mjmJoint* pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, (urName[i] + "_free_joint").c_str());
mjsJoint* pjoint = mjs_addJoint(pbody, 0);
mjs_setString(pjoint->name, (urName[i] + "_free_joint").c_str());
pjoint->type = mjJNT_FREE;
}
}
@@ -226,14 +226,14 @@ void mjXURDF::Parse(
void mjXURDF::Body(XMLElement* body_elem) {
std::string name, text;
XMLElement *elem, *temp, *temp1;
mjmBody *pbody, *world;
mjmGeom* pgeom;
mjsBody *pbody, *world;
mjsGeom* pgeom;
// get body name and pointer to mjmBody
// get body name and pointer to mjsBody
ReadAttrTxt(body_elem, "name", name, true);
name = GetPrefixedName(name);
world = mjm_findBody(model, "world");
pbody = mjm_findChild(world, name.c_str());
world = mjs_findBody(model, "world");
pbody = mjs_findChild(world, name.c_str());
if (!pbody) {
throw mjXError(body_elem, "URDF body not found"); // SHOULD NOT OCCUR
}
@@ -272,7 +272,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
// lquat = rotation from specified to default (joint/body) inertial frame
double lquat[4] = {1, 0, 0, 0};
double tmpquat[4] = {1, 0, 0, 0};
const char* altres = mjm_setFullInertia(pbody, lquat, pbody->inertia);
const char* altres = mjs_setFullInertia(pbody, lquat, pbody->inertia);
// inertia are sometimes 0 in URDF files: ignore error in altres, fix later
(void) altres;
@@ -326,7 +326,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
mjXUtil::ReadAttrTxt(elem, "name", geom_name);
name = GetPrefixedName(name);
if (urGeomNames.find(geom_name) == urGeomNames.end()) {
mjm_setString(pgeom->name, geom_name.c_str());
mjs_setString(pgeom->name, geom_name.c_str());
urGeomNames.insert(geom_name);
} else {
std::cerr << "WARNING: Geom with duplicate name '" << geom_name
@@ -349,7 +349,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
mjXUtil::ReadAttrTxt(elem, "name", geom_name);
geom_name = GetPrefixedName(geom_name);
if (urGeomNames.find(geom_name) == urGeomNames.end()) {
mjm_setString(pgeom->name, geom_name.c_str());
mjs_setString(pgeom->name, geom_name.c_str());
urGeomNames.insert(geom_name);
} else {
std::cerr << "WARNING: Geom with duplicate name '" << geom_name
@@ -374,8 +374,8 @@ void mjXURDF::Parse(XMLElement* root) {
void mjXURDF::Joint(XMLElement* joint_elem) {
std::string jntname, name, text;
XMLElement *elem;
mjmBody *pbody, *parent, *world;
mjmJoint *pjoint=0, *pjoint1=0, *pjoint2=0;
mjsBody *pbody, *parent, *world;
mjsJoint *pjoint=0, *pjoint1=0, *pjoint2=0;
int jointtype;
// get type and name
@@ -390,8 +390,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
elem = FindSubElem(joint_elem, "parent", true);
ReadAttrTxt(elem, "link", name, true);
name = GetPrefixedName(name);
world = mjm_findBody(model, "world");
parent = mjm_findChild(world, name.c_str());
world = mjs_findBody(model, "world");
parent = mjs_findChild(world, name.c_str());
if (!parent) { // SHOULD NOT OCCUR
throw mjXError(elem, "invalid parent name in URDF joint definition");
}
@@ -400,8 +400,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
elem = FindSubElem(joint_elem, "child", true);
ReadAttrTxt(elem, "link", name, true);
name = GetPrefixedName(name);
world = mjm_findBody(model, "world");
pbody = mjm_findChild(world, name.c_str());
world = mjs_findBody(model, "world");
pbody = mjs_findChild(world, name.c_str());
if (!pbody) { // SHOULD NOT OCCUR
throw mjXError(elem, "invalid child name in URDF joint definition");
}
@@ -418,16 +418,16 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
switch (jointtype) {
case 0: // revolute
case 1: // continuous
pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, jntname.c_str());
pjoint = mjs_addJoint(pbody, 0);
mjs_setString(pjoint->name, jntname.c_str());
pjoint->type = mjJNT_HINGE;
mjuu_setvec(pjoint->pos, 0, 0, 0);
mjuu_copyvec(pjoint->axis, axis, 3);
break;
case 2: // prismatic
pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, jntname.c_str());
pjoint = mjs_addJoint(pbody, 0);
mjs_setString(pjoint->name, jntname.c_str());
pjoint->type = mjJNT_SLIDE;
mjuu_setvec(pjoint->pos, 0, 0, 0);
mjuu_copyvec(pjoint->axis, axis, 3);
@@ -437,8 +437,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
return;
case 4: // floating
pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, jntname.c_str());
pjoint = mjs_addJoint(pbody, 0);
mjs_setString(pjoint->name, jntname.c_str());
pjoint->type = mjJNT_FREE;
break;
@@ -448,8 +448,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
mjuu_quat2mat(mat, quat);
// construct slider along x
pjoint = mjm_addJoint(pbody, 0);
mjm_setString(pjoint->name, (jntname + "_TX").c_str());
pjoint = mjs_addJoint(pbody, 0);
mjs_setString(pjoint->name, (jntname + "_TX").c_str());
pjoint->type = mjJNT_SLIDE;
tmpaxis[0] = mat[0];
tmpaxis[1] = mat[3];
@@ -458,8 +458,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
mjuu_copyvec(pjoint->axis, tmpaxis, 3);
// construct slider along y
pjoint1 = mjm_addJoint(pbody, 0);
mjm_setString(pjoint1->name, (jntname + "_TY").c_str());
pjoint1 = mjs_addJoint(pbody, 0);
mjs_setString(pjoint1->name, (jntname + "_TY").c_str());
pjoint1->type = mjJNT_SLIDE;
tmpaxis[0] = mat[1];
tmpaxis[1] = mat[4];
@@ -468,8 +468,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
mjuu_copyvec(pjoint1->axis, tmpaxis, 3);
// construct hinge around z = locaxis
pjoint2 = mjm_addJoint(pbody, 0);
mjm_setString(pjoint2->name, (jntname + "_RZ").c_str());
pjoint2 = mjs_addJoint(pbody, 0);
mjs_setString(pjoint2->name, (jntname + "_RZ").c_str());
pjoint2->type = mjJNT_HINGE;
mjuu_setvec(pjoint2->pos, 0, 0, 0);
mjuu_copyvec(pjoint2->axis, axis, 3);
@@ -506,7 +506,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
// parse origin and geometry elements of visual or collision
mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
XMLElement *elem, *temp;
std::string text, meshfile;
@@ -514,8 +514,8 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
elem = FindSubElem(geom_elem, "geometry", true);
// add BOX geom, modify type later
mjmGeom* pgeom = mjm_addGeom(pbody, 0);
mjm_setString(pgeom->name, "");
mjsGeom* pgeom = mjs_addGeom(pbody, 0);
mjs_setString(pgeom->name, "");
pgeom->type = mjGEOM_BOX;
if (collision) {
pgeom->contype = 1;
@@ -576,19 +576,19 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
meshname = mjuu_stripext(meshname);
// look for existing mesh
mjmMesh* mesh = mjm_findMesh(model, meshname.c_str());
mjmMesh* pmesh = 0;
mjsMesh* mesh = mjs_findMesh(model, meshname.c_str());
mjsMesh* pmesh = 0;
// does not exist: create
if (!mesh) {
pmesh = mjm_addMesh(model, 0);
pmesh = mjs_addMesh(model, 0);
}
// exists with different scale: append name with '1', create
else if (mesh->scale[0]!=meshscale[0] ||
mesh->scale[1]!=meshscale[1] ||
mesh->scale[2]!=meshscale[2]) {
pmesh = mjm_addMesh(model, 0);
pmesh = mjs_addMesh(model, 0);
meshname = meshname + "1";
}
@@ -598,9 +598,9 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
}
// set fields
mjm_setString(pmesh->file, meshfile.c_str());
mjm_setString(pmesh->name, meshname.c_str());
mjm_setString(pgeom->meshname, meshname.c_str());
mjs_setString(pmesh->file, meshfile.c_str());
mjs_setString(pmesh->name, meshname.c_str());
mjs_setString(pgeom->meshname, meshname.c_str());
pmesh->scale[0] = meshscale[0];
pmesh->scale[1] = meshscale[1];
pmesh->scale[2] = meshscale[2];
@@ -683,22 +683,22 @@ void mjXURDF::AddBody(std::string name) {
// add body with given number to the mjCModel tree, process children
void mjXURDF::AddToTree(int n) {
// get pointer to parent in mjCModel tree
mjmBody *parent = 0, *child = 0, *world = 0;
mjsBody *parent = 0, *child = 0, *world = 0;
if (urParent[n]>=0) {
world = mjm_findBody(model, "world");
parent = mjm_findChild(world, urName[urParent[n]].c_str());
world = mjs_findBody(model, "world");
parent = mjs_findChild(world, urName[urParent[n]].c_str());
if (!parent)
throw mjXError(0, "URDF body parent should already be in tree: %s",
urName[urParent[n]].c_str()); // SHOULD NOT OCCUR
} else {
parent = mjm_findBody(model, "world");
parent = mjs_findBody(model, "world");
}
// add this body
if (urName[n] != "world") {
child = mjm_addBody(parent, 0);
mjm_setString(child->name, urName[n].c_str());
child = mjs_addBody(parent, 0);
mjs_setString(child->name, urName[n].c_str());
}
// add children recursively