From 4c066a26b5c939155c9ba0db45b4d9ec81bebcbd Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Sun, 24 Dec 2023 12:06:05 -0800
Subject: [PATCH] Change `mjVISSTRING` of connect and weld equality constraints
 from "Constraint" to "Equality". This is more consistent with the 'E'
 shortcut key and with `mjDISABLESTRING` ("constraint" means all constraints,
 "equality" means bilateral constraints).

Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.

PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
---
 python/mujoco/bindings_test.py |  2 +-
 simulate/simulate.cc           | 12 ++++--------
 src/engine/engine_vis_init.c   | 34 +++++++++++++++++-----------------
 3 files changed, 22 insertions(+), 26 deletions(-)

diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index 3d2e0ac6..407557f0 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -822,7 +822,7 @@ Euler integrator, semi-implicit in velocity.
     self.assertLen(mujoco.mjRNDSTRING, mujoco.mjtRndFlag.mjNRNDFLAG)
     self.assertEqual(mujoco.mjDISABLESTRING[11], 'Refsafe')
     self.assertEqual(mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA],
-                     ('&Inertia', '0', 'I'))
+                     ('Inertia', '0', 'I'))
 
   def test_enum_values(self):
     self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, 0)
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 226e290d..d9d4f99d 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -837,15 +837,8 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
     {mjITEM_END}
   };
   for (int i=0; i<mjNVISFLAG; i++) {
-    // set name, remove "&"
+    // set name
     mju::strcpy_arr(defFlag[0].name, mjVISSTRING[i][0]);
-    for (int j=0; j<strlen(mjVISSTRING[i][0]); j++) {
-      if (mjVISSTRING[i][0][j]=='&') {
-        mju_strncpy(
-          defFlag[0].name+j, mjVISSTRING[i][0]+j+1, mju::sizeof_arr(defFlag[0].name)-j);
-        break;
-      }
-    }
 
     // set shortcut and data
     if (mjVISSTRING[i][2][0]) {
@@ -868,7 +861,10 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
   // add rendering flags
   mjui_add(&sim->ui0, defOpenGL);
   for (int i=0; i<mjNRNDFLAG; i++) {
+    // set name
     mju::strcpy_arr(defFlag[0].name, mjRNDSTRING[i][0]);
+
+    // set shortcut and data
     if (mjRNDSTRING[i][2][0]) {
       mju::sprintf_arr(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
     } else {
diff --git a/src/engine/engine_vis_init.c b/src/engine/engine_vis_init.c
index 11ab0f5e..3c16bf66 100644
--- a/src/engine/engine_vis_init.c
+++ b/src/engine/engine_vis_init.c
@@ -68,29 +68,29 @@ const char* mjFRAMESTRING[mjNFRAME] = {
 
 // visual options: {name, initial value, shortcut}
 const char* mjVISSTRING[mjNVISFLAG][3] = {
-  {"Convex &Hull",    "0", "H"},
-  {"Te&xture",        "1", "X"},
-  {"&Joint",          "0", "J"},
+  {"Convex Hull",     "0", "H"},
+  {"Texture",         "1", "X"},
+  {"Joint",           "0", "J"},
   {"Camera",          "0", "Q"},
-  {"Act&uator",       "0", "U"},
-  {"Act&ivation",     "0", ","},
+  {"Actuator",        "0", "U"},
+  {"Activation",      "0", ","},
   {"Light",           "0", "Z"},
   {"Tendon",          "1", "V"},
   {"Range Finder",    "1", "Y"},
-  {"Co&nstraint",     "0", "E"},
-  {"&Inertia",        "0", "I"},
+  {"Equality",        "0", "E"},
+  {"Inertia",         "0", "I"},
   {"Scale Inertia",   "0", "'"},
-  {"Pertur&b Force",  "0", "B"},
-  {"Perturb &Object", "1", "O"},
-  {"&Contact Point",  "0", "C"},
+  {"Perturb Force",   "0", "B"},
+  {"Perturb Object",  "1", "O"},
+  {"Contact Point",   "0", "C"},
   {"Island",          "1", ""},   // TODO(b/295296178): turn off after islands are on by default.
-  {"Contact &Force",  "0", "F"},
-  {"Contact S&plit",  "0", "P"},
-  {"&Transparent",    "0", "T"},
-  {"&Auto Connect",   "0", "A"},
-  {"Center of &Mass", "0", "M"},
-  {"S&elect Point",   "0", ""},
-  {"Static Bo&dy",    "1", "D"},
+  {"Contact Force",   "0", "F"},
+  {"Contact Split",   "0", "P"},
+  {"Transparent",     "0", "T"},
+  {"Auto Connect",    "0", "A"},
+  {"Center of Mass",  "0", "M"},
+  {"Select Point",    "0", ""},
+  {"Static Body",     "1", "D"},
   {"Skin",            "1", ";"},
   {"Flex Vert",       "0", ""},
   {"Flex Edge",       "0", ""},