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Remove copy_back from Python bindings and mj_copyBack from the C API.

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PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
This commit is contained in:
Alessio Quaglino
2024-10-18 11:54:00 -07:00
committed by Copybara-Service
parent 62c0ef4262
commit dcf2816543
14 changed files with 17 additions and 63 deletions
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src/xml/xml_api.cc
+3 -4
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@@ -62,8 +62,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
mjCopyError(error, "No XML model loaded", error_sz);
return std::nullopt;
}
mj_copyBack(spec_, m);
std::string result = WriteXML(spec_, error, error_sz);
std::string result = WriteXML(m, spec_, error, error_sz);
if (result.empty()) {
return std::nullopt;
}
@@ -229,7 +228,7 @@ mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int er
// save spec to XML file, return 1 on success, 0 otherwise
int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz) {
std::string result = WriteXML(s, error, error_sz);
std::string result = WriteXML(NULL, s, error, error_sz);
if (result.empty()) {
return 0;
}
@@ -245,7 +244,7 @@ int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz)
// save spec to string, return 1 on success, 0 otherwise
int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz) {
std::string result = WriteXML(s, error, error_sz);
std::string result = WriteXML(NULL, s, error, error_sz);
if (result.size() >= xml_sz) {
std::string error_msg = "Output string too short, should be at least " +
std::to_string(result.size()+1);