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Rename mjSpec.euler to eulerseq to match MJCF.

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PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
This commit is contained in:
Yuval Tassa
2024-07-03 03:09:01 -07:00
committed by Copybara-Service
parent df7ea3ed33
commit 8f16b72f44
8 changed files with 19 additions and 18 deletions
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doc/includes/references.h
+1 -1
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@@ -1654,7 +1654,7 @@ typedef struct mjSpec_ { // model specification
mjtByte strippath; // automatically strip paths from mesh files
mjtByte fitaabb; // meshfit to aabb instead of inertia box
mjtByte degree; // angles in radians or degrees
char euler[3]; // sequence for euler rotations
char eulerseq[3]; // sequence for euler rotations
mjString* meshdir; // mesh and hfield directory
mjString* texturedir; // texture directory
mjtByte discardvisual; // discard visual geoms in parser
include/mujoco/mjspec.h
+1 -1
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@@ -118,7 +118,7 @@ typedef struct mjSpec_ { // model specification
mjtByte strippath; // automatically strip paths from mesh files
mjtByte fitaabb; // meshfit to aabb instead of inertia box
mjtByte degree; // angles in radians or degrees
char euler[3]; // sequence for euler rotations
char eulerseq[3]; // sequence for euler rotations
mjString* meshdir; // mesh and hfield directory
mjString* texturedir; // texture directory
mjtByte discardvisual; // discard visual geoms in parser
introspect/structs.py
+1 -1
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@@ -8266,7 +8266,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='angles in radians or degrees',
),
StructFieldDecl(
name='euler',
name='eulerseq',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(3,),
python/mujoco/specs_test.py
+3 -3
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@@ -34,9 +34,9 @@ class SpecsTest(absltest.TestCase):
spec = mujoco.MjSpec()
# Check that euler sequence order is set correctly.
self.assertEqual(spec.euler[0], ord('x'))
spec.euler = ['z', 'y', 'x']
self.assertEqual(spec.euler[0], ord('z'))
self.assertEqual(spec.eulerseq[0], ord('x'))
spec.eulerseq = ['z', 'y', 'x']
self.assertEqual(spec.eulerseq[0], ord('z'))
# Add a body, check that it has default orientation.
body = spec.worldbody.add_body()
src/user/user_flexcomp.cc
+2 -1
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@@ -27,6 +27,7 @@
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjplugin.h>
#include <mujoco/mujoco.h>
#include "cc/array_safety.h"
#include "engine/engine_crossplatform.h"
#include "engine/engine_resource.h"
@@ -145,7 +146,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
}
// compute orientation
const char* alterr = mjs_resolveOrientation(quat, model->spec.degree, model->spec.euler, &alt);
const char* alterr = mjs_resolveOrientation(quat, model->spec.degree, model->spec.eulerseq, &alt);
if (alterr) {
return comperr(error, alterr, error_sz);
}
src/user/user_init.c
+3 -3
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@@ -36,9 +36,9 @@ void mjs_defaultSpec(mjSpec* spec) {
spec->autolimits = 1;
spec->settotalmass = -1;
spec->degree = 1;
spec->euler[0] = 'x';
spec->euler[1] = 'y';
spec->euler[2] = 'z';
spec->eulerseq[0] = 'x';
spec->eulerseq[1] = 'y';
spec->eulerseq[2] = 'z';
spec->convexhull = 1;
spec->usethread = 1;
spec->inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
src/user/user_objects.cc
+5 -5
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@@ -1388,7 +1388,7 @@ void mjCBody::Compile(void) {
}
// check and process orientation alternatives for body
const char* err = ResolveOrientation(quat, model->degree, model->euler, alt);
const char* err = ResolveOrientation(quat, model->degree, model->eulerseq, alt);
if (err) {
throw mjCError(this, "error '%s' in frame alternative", err);
}
@@ -1650,7 +1650,7 @@ void mjCFrame::Compile() {
}
CopyFromSpec();
const char* err = ResolveOrientation(quat, model->spec.degree, model->spec.euler, alt);
const char* err = ResolveOrientation(quat, model->spec.degree, model->spec.eulerseq, alt);
if (err) {
throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
}
@@ -2394,7 +2394,7 @@ void mjCGeom::Compile(void) {
// not 'fromto': try alternative
else {
const char* err = ResolveOrientation(quat, model->degree, model->euler, alt);
const char* err = ResolveOrientation(quat, model->degree, model->eulerseq, alt);
if (err) {
throw mjCError(this, "orientation specification error '%s' in geom %d", err, id);
}
@@ -2643,7 +2643,7 @@ void mjCSite::Compile(void) {
// alternative orientation
else {
const char* err = ResolveOrientation(quat, model->degree, model->euler, alt);
const char* err = ResolveOrientation(quat, model->degree, model->eulerseq, alt);
if (err) {
throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
}
@@ -2754,7 +2754,7 @@ void mjCCamera::Compile(void) {
userdata_.resize(model->nuser_cam);
// process orientation specifications
const char* err = ResolveOrientation(quat, model->degree, model->euler, alt);
const char* err = ResolveOrientation(quat, model->degree, model->eulerseq, alt);
if (err) {
throw mjCError(this, "orientation specification error '%s' in camera %d", err, id);
}
src/xml/xml_native_reader.cc
+3 -3
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@@ -959,7 +959,7 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
if (text.size()!=3) {
throw mjXError(section, "euler format must have length 3");
}
memcpy(spec->euler, text.c_str(), 3);
memcpy(spec->eulerseq, text.c_str(), 3);
}
if (ReadAttrTxt(section, "assetdir", text)) {
mjs_setString(spec->meshdir, text.c_str());
@@ -3393,7 +3393,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
alt.type = mjORIENTATION_EULER;
mjuu_copyvec(alt.euler, euler, 3);
double rotation[4] = {1, 0, 0, 0};
mjs_resolveOrientation(rotation, model->degree, model->euler, &alt);
mjs_resolveOrientation(rotation, model->degree, model->eulerseq, &alt);
// read childdef
mjsDefault* childdef = 0;
@@ -3424,7 +3424,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
alt.euler[0] = i*euler[0];
alt.euler[1] = i*euler[1];
alt.euler[2] = i*euler[2];
mjs_resolveOrientation(quat, model->degree, model->euler, &alt);
mjs_resolveOrientation(quat, model->degree, model->eulerseq, &alt);
mjuu_setvec(pframe->quat, quat[0], quat[1], quat[2], quat[3]);
// process suffix