Move mjCWrap type to mjsWrap.

PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92

doc/includes/references.h

@@ -2302,6 +2302,7 @@ typedef struct mjsTendon_ {        // tendon specification
 } mjsTendon;
 typedef struct mjsWrap_ {          // wrapping object specification
   mjsElement* element;             // element type
+  mjtWrap type;                    // wrap type
   mjString* info;                  // message appended to errors
 } mjsWrap;
 typedef struct mjsActuator_ {      // actuator specification

include/mujoco/mjspec.h

@@ -652,6 +652,7 @@ typedef struct mjsTendon_ {        // tendon specification
 
 typedef struct mjsWrap_ {          // wrapping object specification
   mjsElement* element;             // element type
+  mjtWrap type;                    // wrap type
   mjString* info;                  // message appended to errors
 } mjsWrap;
 

python/mujoco/introspect/structs.py

@@ -10142,6 +10142,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='element type',
              ),
+             StructFieldDecl(
+                 name='type',
+                 type=ValueType(name='mjtWrap'),
+                 doc='wrap type',
+             ),
              StructFieldDecl(
                  name='info',
                  type=PointerType(

python/mujoco/specs_test.py

@@ -1491,5 +1491,69 @@ class SpecsTest(absltest.TestCase):
 
     self.assertEqual(model.geom_matid[0], 1)
 
+  def test_tendon_path(self):
+    spec = mujoco.MjSpec()
+
+    body = spec.worldbody.add_body(name='body')
+
+    body.add_geom(name='body_geom', pos=[0, 0, 0], size=[.1, 0, 0])
+    body.add_site(name='site1', pos=[0, 0, 0])
+    body.add_site(name='site2', pos=[0, 0, -1])
+    body.add_site(name='site3', pos=[0, 0, -4])
+    body.add_site(name='site4', pos=[0, 1, -6])
+
+    spec.worldbody.add_geom(name='sphere', size=[.2, 0, 0], pos=[0, 0, -2])
+
+    spec.worldbody.add_geom(
+        name='cylinder',
+        type=mujoco.mjtGeom.mjGEOM_CYLINDER,
+        size=[0.1, 0.2, 0.3],
+        pos=[0, 0, -5]
+    )
+
+    body.add_joint(
+        name='joint1', type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0]
+    )
+
+    body2 = spec.worldbody.add_body(name='body2', pos=[2, 0, 0])
+    body2.add_geom(name='body2_geom', pos=[0, 0, 0], size=[.1, 0, 0])
+    body2.add_joint(
+        name='joint2', type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0]
+    )
+
+    spatial_tendon = spec.add_tendon()
+    fixed_tendon = spec.add_tendon()
+
+    wrap_site1 = spatial_tendon.wrap_site('site1')
+    wrap_site2 = spatial_tendon.wrap_site('site2')
+    wrap_pulley1 = spatial_tendon.wrap_pulley(2.0)
+    wrap_site3_1 = spatial_tendon.wrap_site('site3')
+    wrap_sphere = spatial_tendon.wrap_geom('sphere', '')
+    wrap_site4_1 = spatial_tendon.wrap_site('site4')
+    wrap_pulley2 = spatial_tendon.wrap_pulley(2.0)
+    wrap_site3_2 = spatial_tendon.wrap_site('site3')
+    wrap_cylinder = spatial_tendon.wrap_geom('cylinder', '')
+    wrap_site4_2 = spatial_tendon.wrap_site('site4')
+
+    wrap_joint1 = fixed_tendon.wrap_joint('joint1', 1.0)
+    wrap_joint2 = fixed_tendon.wrap_joint('joint2', 1.0)
+
+    # Wrap type for geom is only set during compilation.
+    spec.compile()
+
+    self.assertEqual(wrap_site1.type, mujoco.mjtWrap.mjWRAP_SITE)
+    self.assertEqual(wrap_site2.type, mujoco.mjtWrap.mjWRAP_SITE)
+    self.assertEqual(wrap_site3_1.type, mujoco.mjtWrap.mjWRAP_SITE)
+    self.assertEqual(wrap_site4_1.type, mujoco.mjtWrap.mjWRAP_SITE)
+    self.assertEqual(wrap_site3_2.type, mujoco.mjtWrap.mjWRAP_SITE)
+    self.assertEqual(wrap_site4_2.type, mujoco.mjtWrap.mjWRAP_SITE)
+    self.assertEqual(wrap_pulley1.type, mujoco.mjtWrap.mjWRAP_PULLEY)
+    self.assertEqual(wrap_sphere.type, mujoco.mjtWrap.mjWRAP_SPHERE)
+    self.assertEqual(wrap_cylinder.type, mujoco.mjtWrap.mjWRAP_CYLINDER)
+    self.assertEqual(wrap_pulley2.type, mujoco.mjtWrap.mjWRAP_PULLEY)
+
+    self.assertEqual(wrap_joint1.type, mujoco.mjtWrap.mjWRAP_JOINT)
+    self.assertEqual(wrap_joint2.type, mujoco.mjtWrap.mjWRAP_JOINT)
+
 if __name__ == '__main__':
   absltest.main()

src/user/user_model.cc

@@ -120,7 +120,7 @@ bool IsNullPose(const T pos[3], const T quat[4]) {
 // get body id from wrap object
 int GetBodyIdFromWrap(const mjCWrap* wrap) {
   if (!wrap || !wrap->obj) return -1;
-  switch (wrap->type) {
+  switch (wrap->Type()) {
     case mjWRAP_SITE:
       return static_cast<mjCSite*>(wrap->obj)->Body()->id;
     case mjWRAP_CYLINDER:
@@ -3606,10 +3606,10 @@ void mjCModel::CopyObjects(mjModel* m) {
 
     // set wraps
     for (int j=0; j < (int)pte->path.size(); j++) {
-      m->wrap_type[adr+j] = pte->path[j]->type;
+      m->wrap_type[adr+j] = pte->path[j]->Type();
       m->wrap_objid[adr+j] = pte->path[j]->obj ? pte->path[j]->obj->id : -1;
       m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->prm;
-      if (pte->path[j]->type == mjWRAP_SPHERE || pte->path[j]->type == mjWRAP_CYLINDER) {
+      if (pte->path[j]->Type() == mjWRAP_SPHERE || pte->path[j]->Type() == mjWRAP_CYLINDER) {
         m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->sideid;
       }
     }

src/user/user_objects.cc

@@ -6138,8 +6138,8 @@ void mjCTendon::CopyFromSpec() {
 
   // clear precompiled
   for (int i=0; i < path.size(); i++) {
-    if (path[i]->type == mjWRAP_CYLINDER) {
+    if (path[i]->Type() == mjWRAP_CYLINDER) {
-      path[i]->type = mjWRAP_SPHERE;
+      path[i]->spec.type = mjWRAP_SPHERE;
     }
   }
 }
@@ -6175,7 +6175,7 @@ void mjCTendon::WrapSite(std::string wrapname, std::string_view wrapinfo) {
   wrap->info = wrapinfo;
 
   // set parameters, add to path
-  wrap->type = mjWRAP_SITE;
+  wrap->spec.type = mjWRAP_SITE;
   wrap->name = wrapname;
   wrap->id = (int)path.size();
   path.push_back(wrap);
@@ -6190,7 +6190,7 @@ void mjCTendon::WrapGeom(std::string wrapname, std::string sidesite, std::string
   wrap->info = wrapinfo;
 
   // set parameters, add to path
-  wrap->type = mjWRAP_SPHERE;         // replace with cylinder later if needed
+  wrap->spec.type = mjWRAP_SPHERE;         // replace with cylinder later if needed
   wrap->name = wrapname;
   wrap->sidesite = sidesite;
   wrap->id = (int)path.size();
@@ -6206,7 +6206,7 @@ void mjCTendon::WrapJoint(std::string wrapname, double coef, std::string_view wr
   wrap->info = wrapinfo;
 
   // set parameters, add to path
-  wrap->type = mjWRAP_JOINT;
+  wrap->spec.type = mjWRAP_JOINT;
   wrap->name = wrapname;
   wrap->prm = coef;
   wrap->id = (int)path.size();
@@ -6222,7 +6222,7 @@ void mjCTendon::WrapPulley(double divisor, std::string_view wrapinfo) {
   wrap->info = wrapinfo;
 
   // set parameters, add to path
-  wrap->type = mjWRAP_PULLEY;
+  wrap->spec.type = mjWRAP_PULLEY;
   wrap->prm = divisor;
   wrap->id = (int)path.size();
   path.push_back(wrap);
@@ -6253,7 +6253,7 @@ void mjCTendon::ResolveReferences(const mjCModel* m) {
   for (int i=0; i < path.size(); i++) {
     std::string pname = path[i]->name;
     std::string psidesite = path[i]->sidesite;
-    if (path[i]->type == mjWRAP_PULLEY) {
+    if (path[i]->Type() == mjWRAP_PULLEY) {
       npulley++;
     }
     try {
@@ -6280,6 +6280,11 @@ void mjCTendon::ResolveReferences(const mjCModel* m) {
 
 // compiler
 void mjCTendon::Compile(void) {
+  // compile all wraps in the path
+  for (mjCWrap* wrap : path) {
+    wrap->Compile();
+  }
+
   CopyFromSpec();
 
   // resize userdata
@@ -6297,7 +6302,7 @@ void mjCTendon::Compile(void) {
   }
 
   // determine type
-  bool spatial = (path[0]->type != mjWRAP_JOINT);
+  bool spatial = (path[0]->Type() != mjWRAP_JOINT);
 
   // require at least two objects in spatial path
   if (spatial && sz < 2) {
@@ -6318,7 +6323,7 @@ void mjCTendon::Compile(void) {
     // fixed
     if (!spatial) {
       // make sure all objects are joints
-      if (path[i]->type != mjWRAP_JOINT) {
+      if (path[i]->Type() != mjWRAP_JOINT) {
         throw mjCError(this, "tendon '%s' (id = %d): spatial object found in fixed path at pos %d",
                        name.c_str(), id, i);
       }
@@ -6332,10 +6337,10 @@ void mjCTendon::Compile(void) {
                         name.c_str(), id);
       }
 
-      switch (path[i]->type) {
+      switch (path[i]->Type()) {
         case mjWRAP_PULLEY:
           // pulley should not follow other pulley
-          if (i > 0 && path[i-1]->type == mjWRAP_PULLEY) {
+          if (i > 0 && path[i-1]->Type() == mjWRAP_PULLEY) {
             throw mjCError(this, "tendon '%s' (id = %d): consecutive pulleys (pos %d)",
                            name.c_str(), id, i);
           }
@@ -6348,15 +6353,15 @@ void mjCTendon::Compile(void) {
 
         case mjWRAP_SITE:
           // site needs a neighbor that is not a pulley
-          if ((i == 0 || path[i-1]->type == mjWRAP_PULLEY) &&
+          if ((i == 0 || path[i-1]->Type() == mjWRAP_PULLEY) &&
-              (i == sz-1 || path[i+1]->type == mjWRAP_PULLEY)) {
+              (i == sz-1 || path[i+1]->Type() == mjWRAP_PULLEY)) {
             throw mjCError(this,
                            "tendon '%s' (id = %d): site %d needs a neighbor that is not a pulley",
                            name.c_str(), id, i);
           }
 
           // site cannot be repeated
-          if (i < sz-1 && path[i+1]->type == mjWRAP_SITE && path[i]->obj->id == path[i+1]->obj->id) {
+          if (i < sz-1 && path[i+1]->Type() == mjWRAP_SITE && path[i]->obj->id == path[i+1]->obj->id) {
             throw mjCError(this,
                            "tendon '%s' (id = %d): site %d is repeated",
                            name.c_str(), id, i);
@@ -6367,7 +6372,7 @@ void mjCTendon::Compile(void) {
         case mjWRAP_SPHERE:
         case mjWRAP_CYLINDER:
           // geom must be bracketed by sites
-          if (i == 0 || i == sz-1 || path[i-1]->type != mjWRAP_SITE || path[i+1]->type != mjWRAP_SITE) {
+          if (i == 0 || i == sz-1 || path[i-1]->Type() != mjWRAP_SITE || path[i+1]->Type() != mjWRAP_SITE) {
             throw mjCError(this,
                            "tendon '%s' (id = %d): geom at pos %d not bracketed by sites",
                            name.c_str(), id, i);
@@ -6442,7 +6447,7 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
   tendon = _tendon;
 
   // clear variables
-  type = mjWRAP_NONE;
+  spec.type = mjWRAP_NONE;
   obj = nullptr;
   sideid = -1;
   prm = 0;
@@ -6450,6 +6455,7 @@ mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
 
   // point to local
   PointToLocal();
+  CopyFromSpec();
 }
 
 
@@ -6478,7 +6484,9 @@ void mjCWrap::PointToLocal() {
   spec.info = &info;
 }
 
-
+void mjCWrap::CopyFromSpec() {
+  *static_cast<mjsWrap*>(this) = spec;
+}
 
 void mjCWrap::NameSpace(const mjCModel* m) {
   name = m->prefix + name + m->suffix;
@@ -6487,13 +6495,15 @@ void mjCWrap::NameSpace(const mjCModel* m) {
   }
 }
 
-
+void mjCWrap::Compile(void) {
+  CopyFromSpec();
+}
 
 void mjCWrap::ResolveReferences(const mjCModel* m) {
   mjCBase *pside;
 
   // handle wrap object types
-  switch (type) {
+  switch (spec.type) {
     case mjWRAP_JOINT:                        // joint
       // find joint by name
       obj = m->FindObject(mjOBJ_JOINT, name);
@@ -6516,7 +6526,7 @@ void mjCWrap::ResolveReferences(const mjCModel* m) {
 
       // set/check geom type
       if (((mjCGeom*)obj)->type == mjGEOM_CYLINDER) {
-        type = mjWRAP_CYLINDER;
+        spec.type = mjWRAP_CYLINDER;
       } else if (((mjCGeom*)obj)->type != mjGEOM_SPHERE) {
         throw mjCError(this,
                        "geom '%s' in tendon %d, wrap %d is not sphere or cylinder",

src/user/user_objects.h

@@ -1705,7 +1705,6 @@ class mjCTendon : public mjCTendon_, private mjsTendon {
 
 class mjCWrap_ : public mjCBase {
  public:
-  mjtWrap type;                   // wrap object type
   int sideid;                     // side site id; -1 if not applicable
   double prm;                     // parameter: divisor, coefficient
   std::string sidesite;           // name of side site
@@ -1719,9 +1718,11 @@ class mjCWrap : public mjCWrap_, private mjsWrap {
   mjsWrap spec;
   using mjCBase::info;
 
+  void CopyFromSpec();
   void PointToLocal();
   void ResolveReferences(const mjCModel* m);
   void NameSpace(const mjCModel* m);
+  mjtWrap Type() const { return spec.type; }
 
   mjCBase* obj;                   // wrap object pointer
 
@@ -1730,6 +1731,8 @@ class mjCWrap : public mjCWrap_, private mjsWrap {
   mjCWrap(const mjCWrap& other);             // copy constructor
   mjCWrap& operator=(const mjCWrap& other);  // copy assignment
 
+  void Compile(void);              // compiler
+
   mjCTendon* tendon;              // tendon owning this wrap
 };
 

src/xml/xml_native_writer.cc

@@ -715,7 +715,7 @@ void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* equality, mjCDe
 
 // write tendon
 void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def) {
-  bool fixed = (tendon->GetWrap(0) && tendon->GetWrap(0)->type == mjWRAP_JOINT);
+  bool fixed = (tendon->GetWrap(0) && tendon->GetWrap(0)->Type() == mjWRAP_JOINT);
 
   // regular
   if (!writingdefaults) {
@@ -1886,14 +1886,14 @@ void mjXWriter::Tendon(XMLElement* root) {
       continue;
     }
     XMLElement* elem = InsertEnd(section,
-                                 tendon->GetWrap(0)->type == mjWRAP_JOINT ? "fixed" : "spatial");
+                                 tendon->GetWrap(0)->Type() == mjWRAP_JOINT ? "fixed" : "spatial");
     OneTendon(elem, tendon, model->def_map[tendon->classname]);
 
     // write wraps
     XMLElement* wrapelem;
     for (int j=0; j < tendon->NumWraps(); j++) {
       const mjCWrap* wrap = tendon->GetWrap(j);
-      switch (wrap->type) {
+      switch (wrap->Type()) {
         case mjWRAP_JOINT:
           wrapelem = InsertEnd(elem, "joint");
           WriteAttrTxt(wrapelem, "joint", wrap->obj->name);