Renamed Model to Spec in C API function names.

PiperOrigin-RevId: 613922860
Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92

src/xml/xml.cc

@@ -344,7 +344,7 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
   }
 
   // create model, set filedir
-  model = mjm_createModel();
+  model = mjm_createSpec();
   const char* dir;
   int ndir = 0;
   mju_getResourceDir(resource, &dir, &ndir);
@@ -393,7 +393,7 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
   // catch known errors
   catch (mjXError err) {
     mjCopyError(error, err.message, error_sz);
-    mjm_deleteModel(model);
+    mjm_deleteSpec(model);
     return nullptr;
   }
 

src/xml/xml_api.cc

@@ -67,7 +67,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
 void GlobalModel::Set(mjSpec* model) {
   std::lock_guard<std::mutex> lock(*mutex_);
   if (model_ != nullptr) {
-    mjm_deleteModel(model_);
+    mjm_deleteSpec(model_);
   }
   model_ = model;
 }
@@ -93,13 +93,13 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
   // parse new model
   std::unique_ptr<mjSpec, std::function<void(mjSpec*)>> model(
       mjParseXML(filename, vfs, error, error_sz),
-      [](mjSpec* m) { mjm_deleteModel(m); });
+      [](mjSpec* m) { mjm_deleteSpec(m); });
   if (!model) {
     return nullptr;
   }
 
   // compile new model
-  mjModel* m = mjm_compileModel(model.get(), vfs);
+  mjModel* m = mjm_compile(model.get(), vfs);
   if (!m) {
     mjCopyError(error, mjm_getError(model.get()), error_sz);
     return nullptr;

src/xml/xml_native_reader.cc

@@ -2643,7 +2643,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
     }
   } else {
     thisid = 0;
-    def = mjm_getModelDefault(model);
+    def = mjm_getSpecDefault(model);
     mjm_setString(def->name, text.c_str());
   }
 
@@ -3046,7 +3046,7 @@ void mjXReader::Asset(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // texture sub-element
@@ -3418,7 +3418,7 @@ void mjXReader::Contact(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // geom pair to include
@@ -3463,7 +3463,7 @@ void mjXReader::Equality(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // create equality constraint and parse
@@ -3491,7 +3491,7 @@ void mjXReader::Deformable(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // flex sub-element
@@ -3527,7 +3527,7 @@ void mjXReader::Tendon(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // create equality constraint and parse
@@ -3593,7 +3593,7 @@ void mjXReader::Actuator(XMLElement* section) {
     // get class if specified, otherwise use default0
     mjmDefault* def = GetClass(elem);
     if (!def) {
-      def = mjm_getModelDefault(model);
+      def = mjm_getSpecDefault(model);
     }
 
     // create actuator and parse