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Add OnePlugin read/write functions and remove redundant plugin attributes from mjCActuator.

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PiperOrigin-RevId: 525708657
Change-Id: I762de238f989b13877d5f9198c83c16ea9dc1d8b
This commit is contained in:
Alessio Quaglino
2023-04-20 04:24:57 -07:00
committed by Copybara-Service
parent 34e62aa3c1
commit 4f5da9c554
5 changed files with 44 additions and 60 deletions
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src/xml/xml_native_reader.cc
+16 -18
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@@ -1841,15 +1841,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
}
else if (type == "plugin") {
pact->is_plugin = true;
ReadAttrTxt(elem, "plugin", pact->plugin_name);
ReadAttrTxt(elem, "instance", pact->plugin_instance_name);
if (pact->plugin_instance_name.empty()) {
pact->plugin_instance = model->AddPlugin();
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, pact->plugin_instance);
OnePlugin(elem, pact);
}
else { // SHOULD NOT OCCUR
@@ -2087,6 +2079,20 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
void mjXReader::OnePlugin(XMLElement* elem, mjCBase* object) {
object->is_plugin = true;
ReadAttrTxt(elem, "plugin", object->plugin_name);
ReadAttrTxt(elem, "instance", object->plugin_instance_name);
if (object->plugin_instance_name.empty()) {
object->plugin_instance = model->AddPlugin();
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, object->plugin_instance);
}
//------------------ MJCF-specific sections --------------------------------------------------------
// default section parser
@@ -2699,15 +2705,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
// plugin sub-element
else if (name == "plugin") {
pbody->is_plugin = true;
ReadAttrTxt(elem, "plugin", pbody->plugin_name);
ReadAttrTxt(elem, "instance", pbody->plugin_instance_name);
if (pbody->plugin_instance_name.empty()) {
pbody->plugin_instance = model->AddPlugin();
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, pbody->plugin_instance);
OnePlugin(elem, pbody);
}
// composite sub-element