Add engine settings to mjmModel.

PiperOrigin-RevId: 608915453
Change-Id: Ic58566d7a9cdb57e25954caec69f595c8c9ee88a

src/user/user_api.h

@@ -15,6 +15,7 @@
 #ifndef MUJOCO_SRC_USER_USER_API_H_
 #define MUJOCO_SRC_USER_USER_API_H_
 
+#include <stddef.h>
 #include <mujoco/mjexport.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjtnum.h>
@@ -82,7 +83,7 @@ typedef struct _mjmModel {         // model specification
   mjElement element;               // internal, do not modify
   mjStatistic stat;                // statistics override (if defined)
 
-  //------------------------ compiler settings
+  // compiler settings
   mjtByte autolimits;              // infer "limited" attribute based on range
   double boundmass;                // enforce minimum body mass
   double boundinertia;             // enforce minimum body diagonal inertia
@@ -102,8 +103,31 @@ typedef struct _mjmModel {         // model specification
   int inertiagrouprange[2];        // range of geom groups used to compute inertia
   mjtByte exactmeshinertia;        // if false, use old formula
   mjLROpt LRopt;                   // options for lengthrange computation
+
+  // engine data
+  mjString modelname;             // model name
+  mjOption option;                // options
+  mjVisual visual;                // visual options
+  size_t memory;                  // size of arena+stack memory in bytes
+  int nemax;                      // max number of equality constraints
+  int njmax;                      // max number of constraints (Jacobian rows)
+  int nconmax;                    // max number of detected contacts (mjContact array size)
+  size_t nstack;                  // (deprecated) number of fields in mjData stack
+  int nuserdata;                  // number extra fields in mjData
+  int nuser_body;                 // number of mjtNums in body_user
+  int nuser_jnt;                  // number of mjtNums in jnt_user
+  int nuser_geom;                 // number of mjtNums in geom_user
+  int nuser_site;                 // number of mjtNums in site_user
+  int nuser_cam;                  // number of mjtNums in cam_user
+  int nuser_tendon;               // number of mjtNums in tendon_user
+  int nuser_actuator;             // number of mjtNums in actuator_user
+  int nuser_sensor;               // number of mjtNums in sensor_user
+
+  // sizes
+  int nkey;                       // number of keyframes
 } mjmModel;
 
+
 typedef struct _mjmOrientation {   // alternative orientation specifiers
   double axisangle[4];             // rotation axis and angle
   double xyaxes[6];                // x and y axes

src/user/user_init.cc

@@ -53,6 +53,24 @@ void mjm_defaultModel(mjmModel& model) {
   model.inertiagrouprange[1] = mjNGROUP-1;
   model.exactmeshinertia = false;
   mj_defaultLROpt(&model.LRopt);
+
+  // engine data
+  mj_defaultOption(&model.option);
+  mj_defaultVisual(&model.visual);
+  model.memory = -1;
+  model.nemax = 0;
+  model.njmax = -1;
+  model.nconmax = -1;
+  model.nstack = -1;
+  model.nuserdata = 0;
+  model.nuser_body = -1;
+  model.nuser_jnt = -1;
+  model.nuser_geom = -1;
+  model.nuser_site = -1;
+  model.nuser_cam = -1;
+  model.nuser_tendon = -1;
+  model.nuser_actuator = -1;
+  model.nuser_sensor = -1;
 }
 
 

src/user/user_model.cc

@@ -88,6 +88,7 @@ mjCModel::mjCModel() {
   modelfiledir.clear();
   spec_meshdir_.clear();
   spec_texturedir_.clear();
+  spec_modelname_ = "MuJoCo Model";
 
   //------------------------ auto-computed statistics
 #ifndef MEMORY_SANITIZER
@@ -99,28 +100,8 @@ mjCModel::mjCModel() {
   center_auto[0] = center_auto[1] = center_auto[2] = 0;
 #endif
 
-  //------------------------ engine data
-  modelname = "MuJoCo Model";
-  mj_defaultOption(&option);
-  mj_defaultVisual(&visual);
-  memory = -1;
-  nemax = 0;
-  njmax = -1;
-  nconmax = -1;
-  nstack = -1;
-  nuserdata = 0;
-  nkey = 0;
   nmocap = 0;
   nplugin = 0;
-  nuser_body = -1;
-  nuser_jnt = -1;
-  nuser_geom = -1;
-  nuser_site = -1;
-  nuser_cam = -1;
-  nuser_tendon = -1;
-  nuser_actuator = -1;
-  nuser_sensor = -1;
-
   //------------------------ private variables
   cameras.clear();
   lights.clear();
@@ -196,6 +177,7 @@ mjCModel::mjCModel() {
 
 void mjCModel::PointToLocal() {
   spec.element = (mjElement)this;
+  spec.modelname = (mjString)&spec_modelname_;
   spec.meshdir = (mjString)&spec_meshdir_;
   spec.texturedir = (mjString)&spec_texturedir_;
 }
@@ -204,8 +186,10 @@ void mjCModel::PointToLocal() {
 
 void mjCModel::CopyFromSpec() {
   *static_cast<mjmModel*>(this) = spec;
+  modelname_ = spec_modelname_;
   meshdir_ = spec_meshdir_;
   texturedir_ = spec_texturedir_;
+  modelname = (mjString)&modelname_;
   meshdir = (mjString)&meshdir_;
   texturedir = (mjString)&texturedir_;
 }
@@ -1072,7 +1056,7 @@ void mjCModel::SetSizes(void) {
   for (int i=0; i<nplugin; i++) npluginattr += (int)plugins[i]->flattened_attributes.size();
 
   // nnames
-  nnames = (int)modelname.size() + 1;
+  nnames = (int)modelname_.size() + 1;
   for (int i=0; i<nbody; i++)    nnames += (int)bodies[i]->name.length() + 1;
   for (int i=0; i<njnt; i++)     nnames += (int)joints[i]->name.length() + 1;
   for (int i=0; i<ngeom; i++)    nnames += (int)geoms[i]->name.length() + 1;
@@ -1351,9 +1335,9 @@ static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int*
 // copy names, compute name addresses
 void mjCModel::CopyNames(mjModel* m) {
   // start with model name
-  int adr = (int)modelname.size()+1;
+  int adr = (int)modelname_.size()+1;
   int* map_adr = m->names_map;
-  mju_strncpy(m->names, modelname.c_str(), m->nnames);
+  mju_strncpy(m->names, modelname_.c_str(), m->nnames);
   memset(m->names_map, -1, sizeof(int) * m->nnames_map);
 
   // process all lists

src/user/user_model.h

@@ -57,6 +57,8 @@ class mjCModel : private mjmModel {
   friend class mjCTendon;
   friend class mjCTexture;
   friend class mjCActuator;
+  friend class mjCSensor;
+  friend class mjCDef;
   friend class mjXReader;
   friend class mjXWriter;
 
@@ -131,25 +133,6 @@ class mjCModel : private mjmModel {
   std::string modelfiledir;       // path to model file
   std::vector<mjCDef*> defaults;  // settings for each defaults class
 
-  //------------------------ engine data
-  std::string modelname;          // model name
-  mjOption option;                // options
-  mjVisual visual;                // visual options
-  std::size_t memory;             // size of arena+stack memory in bytes
-  int nemax;                      // max number of equality constraints
-  int njmax;                      // max number of constraints (Jacobian rows)
-  int nconmax;                    // max number of detected contacts (mjContact array size)
-  size_t nstack;                  // (deprecated) number of fields in mjData stack
-  int nuserdata;                  // number extra fields in mjData
-  int nuser_body;                 // number of mjtNums in body_user
-  int nuser_jnt;                  // number of mjtNums in jnt_user
-  int nuser_geom;                 // number of mjtNums in geom_user
-  int nuser_site;                 // number of mjtNums in site_user
-  int nuser_cam;                  // number of mjtNums in cam_user
-  int nuser_tendon;               // number of mjtNums in tendon_user
-  int nuser_actuator;             // number of mjtNums in actuator_user
-  int nuser_sensor;               // number of mjtNums in sensor_user
-
  private:
   void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
   mjModel* _Compile(const mjVFS* vfs);
@@ -202,7 +185,6 @@ class mjCModel : private mjmModel {
   int nnumeric;                   // number of numeric fields
   int ntext;                      // number of text fields
   int ntuple;                     // number of tuple fields
-  int nkey;                       // number of keyframes
   int nmocap;                     // number of mocap bodies
   int nplugin;                    // number of plugin instances
 
@@ -297,8 +279,10 @@ class mjCModel : private mjmModel {
   std::vector<mjtNum> qpos0;      // save qpos0, to recognize changed key_qpos in write
 
   // variable-size attributes
+  std::string modelname_;
   std::string meshdir_;
   std::string texturedir_;
+  std::string spec_modelname_;
   std::string spec_meshdir_;
   std::string spec_texturedir_;
 };

src/xml/xml_native_reader.cc

@@ -39,7 +39,6 @@
 #include "user/user_api.h"
 #include "user/user_composite.h"
 #include "user/user_flexcomp.h"
-#include "user/user_model.h"
 #include "user/user_util.h"
 #include "xml/xml_base.h"
 #include "xml/xml_util.h"
@@ -805,7 +804,10 @@ void mjXReader::Parse(XMLElement* root) {
   }
 
   // get model name
-  ReadAttrTxt(root, "model", model->modelname);
+  string modelname;
+  if (ReadAttrTxt(root, "model", modelname)) {
+    mjm_setString(model->spec.modelname, modelname.c_str());
+  }
 
   // get comment
   if (root->FirstChild() && root->FirstChild()->ToComment()) {
@@ -823,12 +825,12 @@ void mjXReader::Parse(XMLElement* root) {
 
   for (XMLElement* section = FirstChildElement(root, "option"); section;
        section = NextSiblingElement(section, "option")) {
-    Option(section, &model->option);
+    Option(section, &model->spec.option);
   }
 
   for (XMLElement* section = FirstChildElement(root, "size"); section;
        section = NextSiblingElement(section, "size")) {
-    Size(section, model);
+    Size(section, &model->spec);
   }
 
   //------------------ parse MJCF-specific sections
@@ -1096,7 +1098,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
 
 
 // size section parser
-void mjXReader::Size(XMLElement* section, mjCModel* mod) {
+void mjXReader::Size(XMLElement* section, mjmModel* mod) {
   // read memory bytes
   {
     constexpr char err_msg[] =
@@ -2936,7 +2938,7 @@ void mjXReader::Custom(XMLElement* section) {
 void mjXReader::Visual(XMLElement* section) {
   string text, name;
   XMLElement* elem;
-  mjVisual* vis = &model->visual;
+  mjVisual* vis = &model->spec.visual;
 
   // iterate over child elements
   elem = FirstChildElement(section);

src/xml/xml_native_reader.h

@@ -22,7 +22,6 @@
 
 #include <mujoco/mujoco.h>
 #include "user/user_api.h"
-#include "user/user_model.h"
 #include "xml/xml_base.h"
 #include "xml/xml_util.h"
 
@@ -45,7 +44,7 @@ class mjXReader : public mjXBase {
   // XML sections embedded in all formats
   static void Compiler(tinyxml2::XMLElement* section, mjmModel* mod);  // compiler section
   static void Option(tinyxml2::XMLElement* section, mjOption* opt);    // option section
-  static void Size(tinyxml2::XMLElement* section, mjCModel* mod);      // size section
+  static void Size(tinyxml2::XMLElement* section, mjmModel* mod);      // size section
 
  private:
   // XML section specific to MJCF

src/xml/xml_native_writer.cc

@@ -775,7 +775,7 @@ string mjXWriter::Write(char *error, size_t error_sz) {
   // create document and root
   XMLDocument doc;
   XMLElement* root = doc.NewElement("mujoco");
-  root->SetAttribute("model", model->modelname.c_str());
+  root->SetAttribute("model", mjm_getString(model->modelname));
 
   // insert root
   doc.InsertFirstChild(root);

src/xml/xml_urdf.cc

@@ -97,11 +97,11 @@ void mjXURDF::Parse(
     }
 
     if ((section = FindSubElem(mjc, "option"))) {
-      mjXReader::Option(section, &model->option);
+      mjXReader::Option(section, &model->spec.option);
     }
 
     if ((section = FindSubElem(mjc, "size"))) {
-      mjXReader::Size(section, model);
+      mjXReader::Size(section, &model->spec);
     }
   }
 
@@ -109,7 +109,10 @@ void mjXURDF::Parse(
   model->spec.degree = false;
 
   // get model name
-  ReadAttrTxt(root, "name", model->modelname);
+  std::string modelname;
+  if (ReadAttrTxt(root, "name", modelname)) {
+    mjm_setString(model->spec.modelname, modelname.c_str());
+  }
 
   // find and register all materials
   MakeMaterials(root);