Add assetdir compiler option.

PiperOrigin-RevId: 478117894
Change-Id: I4a93108e00558034aa02d22047da80adfa4232b2

doc/XMLreference.rst

@@ -47,7 +47,7 @@ in the second column of the table have the following meaning:
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`inertiafromgeom`   | :at:`inertiagrouprange` | :at:`exactmeshinertia`  | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`autolimits`        |                         |                         | |
+|                          |    |    | :at:`autolimits`        | :at:`assetdir`          |                         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
 | |_2|:el:`lengthrange`    | ?  | .. table::                                                                         |
@@ -1549,11 +1549,11 @@ any effect. The settings here are global and apply to the entire model.
    :ref:`mj_setTotalmass`.
 :at:`balanceinertia`: :at-val:`[false, true], "false"`
    A valid diagonal inertia matrix must satisfy A+B>=C for all permutations of the three diagonal elements. Some poorly
-   designed models violate this constraint, which will normally result in compile error. If this attribute is set to
+   designed models violate this constraint, which will normally result in a compile error. If this attribute is set to
    "true", the compiler will silently set all three diagonal elements to their average value whenever the above
    condition is violated.
 :at:`strippath`: :at-val:`[false, true], "false" for MJCF, "true" for URDF`
-   The this attribute is "true", the parser will remove any path information in file names specified in the model. This
+   When this attribute is "true", the parser will remove any path information in file names specified in the model. This
    is useful for loading models created on a different system using a different directory structure.
 :at:`coordinate`: :at-val:`[local, global], "local" for MJCF, always "local" for URDF`
    This attribute specifies whether the frame positions and orientations in the MJCF model are expressed in local or
@@ -1585,6 +1585,9 @@ any effect. The settings here are global and apply to the entire model.
 :at:`texturedir`: :at-val:`string, optional`
    This attribute is used to instruct the compiler where to look for texture files. It works in the same way as meshdir
    above.
+:at:`assetdir`: :at-val:`string, optional`
+   This attribute sets the values of both :at:`meshdir` and :at:`texturedir` above. Values in the latter attributes take
+   precedence over :at:`assetdir`.
 :at:`discardvisual`: :at-val:`[false, true], "false" for MJCF, "true" for URDF`
    This attribute instructs the parser to discard "visual geoms", defined as geoms whose contype and conaffinity
    attributes are both set to 0. This functionality is useful for models that contain two sets of geoms, one for

doc/changelog.rst

@@ -47,6 +47,9 @@ General
   as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally.
   If you are interested in using the plugin mechanism, please get in touch first.
 
+- Added :at:`assetdir` compiler option, which sets the values of both :at:`meshdir` and :at:`texturedir`. Values in
+  the latter attributes take precedence over :at:`assetdir`.
+
 Python bindings
 ^^^^^^^^^^^^^^^
 

src/user/user_model.h

@@ -117,8 +117,8 @@ class mjCModel {
 
   //------------------------ compiler settings
   bool autolimits;                // infer "limited" attribute based on range
-  double boundmass;               // enfore minimum body mass
+  double boundmass;               // enforce minimum body mass
-  double boundinertia;            // enfore minimum body diagonal inertia
+  double boundinertia;            // enforce minimum body diagonal inertia
   double settotalmass;            // rescale masses and inertias; <=0: ignore
   bool balanceinertia;            // automatically impose A + B >= C rule
   bool strippath;                 // automatically strip paths from mesh files

src/xml/xml_native_reader.cc

@@ -79,10 +79,11 @@ static const int nMJCF = 183;
 static const char* MJCF[nMJCF][mjXATTRNUM] = {
 {"mujoco", "!", "1", "model"},
 {"<"},
-    {"compiler", "*", "19", "autolimits", "boundmass", "boundinertia", "settotalmass",
+    {"compiler", "*", "20", "autolimits", "boundmass", "boundinertia", "settotalmass",
         "balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
         "meshdir", "texturedir", "discardvisual", "convexhull", "usethread",
-        "fusestatic", "inertiafromgeom", "inertiagrouprange", "exactmeshinertia"},
+        "fusestatic", "inertiafromgeom", "inertiagrouprange", "exactmeshinertia",
+        "assetdir"},
     {"<"},
         {"lengthrange", "?", "10", "mode", "useexisting", "uselimit",
             "accel", "maxforce", "timeconst", "timestep",
@@ -853,6 +854,11 @@ void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
     }
     memcpy(mod->euler, text.c_str(), 3);
   }
+  if (ReadAttrTxt(section, "assetdir", text)) {
+    mod->meshdir = text;
+    mod->texturedir = text;
+  }
+  // meshdir and texturedir take precedence over assetdir
   ReadAttrTxt(section, "meshdir", mod->meshdir);
   ReadAttrTxt(section, "texturedir", mod->texturedir);
   if (MapValue(section, "discardvisual", &n, bool_map, 2)) {

src/xml/xml_urdf.cc

@@ -96,7 +96,7 @@ void mjXURDF::Parse(XMLElement* root) {
     }
   }
 
-  // enfore required compiler defaults for URDF
+  // enforce required compiler defaults for URDF
   model->global = false;
   model->degree = false;
 

test/user/testdata/textured_torus.xml

@@ -1,5 +1,5 @@
 <mujoco>
-  <compiler meshdir="textured_torus" texturedir="textured_torus"/>
+  <compiler assetdir="textured_torus"/>
   <asset>
     <mesh name="torus" file="textured_torus.obj"/>
     <mesh name="flipped_torus" file="textured_torus.obj" scale="-1 1 1"/>