Rename mjSpec.euler to eulerseq to match MJCF.

PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1

src/user/user_flexcomp.cc

@@ -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

@@ -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

@@ -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

@@ -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