Rename mjSpec.euler to eulerseq to match MJCF.

PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1

doc/includes/references.h

@@ -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

@@ -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

@@ -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

@@ -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'))
+    self.assertEqual(spec.eulerseq[0], ord('x'))
-    spec.euler = ['z', 'y', 'x']
+    spec.eulerseq = ['z', 'y', 'x']
-    self.assertEqual(spec.euler[0], ord('z'))
+    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

@@ -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->eulerseq[0] = 'x';
-  spec->euler[1] = 'y';
+  spec->eulerseq[1] = 'y';
-  spec->euler[2] = 'z';
+  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