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Rename model to spec in xml_native_reader.cc.

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PiperOrigin-RevId: 651780148
Change-Id: I476c79af4b47bf763f1f3cb166d3f0897554a207
This commit is contained in:
Yuval Tassa
2024-07-12 08:21:52 -07:00
committed by Copybara-Service
parent a0df72f43f
commit e76f3ce1e3
4 changed files with 83 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_base.cc
+2 -2
View File
@@ -37,14 +37,14 @@ using tinyxml2::XMLElement;
// base constructor
mjXBase::mjXBase() {
model = NULL;
spec = NULL;
}
// set model field
void mjXBase::SetModel(const mjSpec* _model) {
model = (mjSpec*)_model;
spec = (mjSpec*)_model;
}
src/xml/xml_base.h
+1 -1
View File
@@ -94,7 +94,7 @@ class mjXBase : public mjXUtil {
static int ReadAlternative(tinyxml2::XMLElement* elem, mjsOrientation& alt);
protected:
mjSpec* model; // internally-allocated model
mjSpec* spec; // internally-allocated model
};
#endif // MUJOCO_SRC_XML_XML_BASE_H_
src/xml/xml_native_reader.cc
+63 -63
View File
@@ -826,31 +826,31 @@ void mjXReader::Parse(XMLElement* root, const mjVFS* vfs) {
// get model name
string modelname;
if (ReadAttrTxt(root, "model", modelname)) {
mjs_setString(model->modelname, modelname.c_str());
mjs_setString(spec->modelname, modelname.c_str());
}
// get comment
if (root->FirstChild() && root->FirstChild()->ToComment()) {
mjs_setString(model->comment, root->FirstChild()->Value());
mjs_setString(spec->comment, root->FirstChild()->Value());
} else {
mjs_setString(model->comment, "");
mjs_setString(spec->comment, "");
}
//------------------- parse MuJoCo sections embedded in all XML formats
for (XMLElement* section = FirstChildElement(root, "compiler"); section;
section = NextSiblingElement(section, "compiler")) {
Compiler(section, model);
Compiler(section, spec);
}
for (XMLElement* section = FirstChildElement(root, "option"); section;
section = NextSiblingElement(section, "option")) {
Option(section, &model->option);
Option(section, &spec->option);
}
for (XMLElement* section = FirstChildElement(root, "size"); section;
section = NextSiblingElement(section, "size")) {
Size(section, model);
Size(section, spec);
}
//------------------ parse MJCF-specific sections
@@ -924,7 +924,7 @@ void mjXReader::Parse(XMLElement* root, const mjVFS* vfs) {
for (XMLElement* section = FirstChildElement(root, "worldbody"); section;
section = NextSiblingElement(section, "worldbody")) {
Body(section, mjs_findBody(model, "world"), nullptr);
Body(section, mjs_findBody(spec, "world"), nullptr);
}
}
@@ -1278,14 +1278,14 @@ void mjXReader::Statistic(XMLElement* section) {
string text;
// read statistics
ReadAttr(section, "meaninertia", 1, &model->stat.meaninertia, text);
ReadAttr(section, "meanmass", 1, &model->stat.meanmass, text);
ReadAttr(section, "meansize", 1, &model->stat.meansize, text);
ReadAttr(section, "extent", 1, &model->stat.extent, text);
if (mjuu_defined(model->stat.extent) && model->stat.extent<=0) {
ReadAttr(section, "meaninertia", 1, &spec->stat.meaninertia, text);
ReadAttr(section, "meanmass", 1, &spec->stat.meanmass, text);
ReadAttr(section, "meansize", 1, &spec->stat.meansize, text);
ReadAttr(section, "extent", 1, &spec->stat.extent, text);
if (mjuu_defined(spec->stat.extent) && spec->stat.extent<=0) {
throw mjXError(section, "extent must be strictly positive");
}
ReadAttr(section, "center", 3, model->stat.center, text);
ReadAttr(section, "center", 3, spec->stat.center, text);
}
@@ -1370,10 +1370,10 @@ void mjXReader::OneMesh(XMLElement* elem, mjsMesh* pmesh) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setString(pmesh->name, name.c_str());
*pmesh->name = name;
}
if (ReadAttrTxt(elem, "content_type", content_type)) {
mjs_setString(pmesh->content_type, content_type.c_str());
*pmesh->content_type = content_type;
}
auto file = ReadAttrFile(elem, "file", MeshDir());
if (file) {
@@ -2480,7 +2480,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* pbody, mjsDefault* def)
// make composite
char error[200];
bool res = comp.Make(model, pbody, error, 200);
bool res = comp.Make(spec, pbody, error, 200);
// throw error
if (!res) {
@@ -2606,7 +2606,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* pbody) {
// make flexcomp
char error[200];
bool res = fcomp.Make(model, pbody, error, 200);
bool res = fcomp.Make(spec, pbody, error, 200);
// throw error
if (!res) {
@@ -2626,10 +2626,10 @@ void mjXReader::OnePlugin(XMLElement* elem, mjsPlugin* plugin) {
mjs_setString(plugin->name, name.c_str());
mjs_setString(plugin->instance_name, instance_name.c_str());
if (instance_name.empty()) {
plugin->instance = mjs_addPlugin(model)->instance;
plugin->instance = mjs_addPlugin(spec)->instance;
ReadPluginConfigs(elem, plugin);
} else {
model->hasImplicitPluginElem = true;
spec->hasImplicitPluginElem = true;
}
}
@@ -2651,12 +2651,12 @@ void mjXReader::Default(XMLElement* section, const mjsDefault* def) {
}
}
if (def) {
def = mjs_addDefault(model, text.c_str(), def);
def = mjs_addDefault(spec, text.c_str(), def);
if (!def) {
throw mjXError(section, "repeated default class name");
}
} else {
def = mjs_getSpecDefault(model);
def = mjs_getSpecDefault(spec);
if (!text.empty() && text != "main") {
throw mjXError(section, "top-level default class 'main' cannot be renamed");
}
@@ -2765,12 +2765,12 @@ void mjXReader::Extension(XMLElement* section) {
XMLElement* child = FirstChildElement(elem);
while (child) {
if (std::string(child->Value())=="instance") {
if (model->hasImplicitPluginElem) {
if (spec->hasImplicitPluginElem) {
throw mjXError(
child, "explicit plugin instance must appear before implicit plugin elements");
}
string name;
mjsPlugin* p = mjs_addPlugin(model);
mjsPlugin* p = mjs_addPlugin(spec);
mjs_setString(p->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
ReadAttrTxt(child, "name", name, /* required = */ true);
mjs_setString(p->name, name.c_str());
@@ -2788,7 +2788,7 @@ void mjXReader::Extension(XMLElement* section) {
elem = NextSiblingElement(elem);
}
mjs_setActivePlugins(model, &active_plugins);
mjs_setActivePlugins(spec, &active_plugins);
}
@@ -2809,7 +2809,7 @@ void mjXReader::Custom(XMLElement* section) {
// numeric
if (name=="numeric") {
// create custom
mjsNumeric* pnum = mjs_addNumeric(model);
mjsNumeric* pnum = mjs_addNumeric(spec);
// write error info
mjs_setString(pnum->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
@@ -2840,7 +2840,7 @@ void mjXReader::Custom(XMLElement* section) {
// text
else if (name=="text") {
// create custom
mjsText* pte = mjs_addText(model);
mjsText* pte = mjs_addText(spec);
// write error info
mjs_setString(pte->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
@@ -2860,7 +2860,7 @@ void mjXReader::Custom(XMLElement* section) {
// tuple
else if (name=="tuple") {
// create custom
mjsTuple* ptu = mjs_addTuple(model);
mjsTuple* ptu = mjs_addTuple(spec);
// write error info
mjs_setString(ptu->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
@@ -2919,7 +2919,7 @@ void mjXReader::Custom(XMLElement* section) {
void mjXReader::Visual(XMLElement* section) {
string text, name;
XMLElement* elem;
mjVisual* vis = &model->visual;
mjVisual* vis = &spec->visual;
int n;
// iterate over child elements
@@ -3063,13 +3063,13 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
def = mjs_getSpecDefault(spec);
}
// texture sub-element
if (name=="texture") {
// create texture
mjsTexture* ptex = mjs_addTexture(model);
mjsTexture* ptex = mjs_addTexture(spec);
// write error info
mjs_setString(ptex->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
@@ -3137,28 +3137,28 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
// material sub-element
else if (name=="material") {
// create material and parse
mjsMaterial* pmat = mjs_addMaterial(model, def);
mjsMaterial* pmat = mjs_addMaterial(spec, def);
OneMaterial(elem, pmat);
}
// mesh sub-element
else if (name=="mesh") {
// create mesh and parse
mjsMesh* pmesh = mjs_addMesh(model, def);
mjsMesh* pmesh = mjs_addMesh(spec, def);
OneMesh(elem, pmesh);
}
// skin sub-element... deprecate ???
else if (name=="skin") {
// create skin and parse
mjsSkin* pskin = mjs_addSkin(model);
mjsSkin* pskin = mjs_addSkin(spec);
OneSkin(elem, pskin);
}
// hfield sub-element
else if (name=="hfield") {
// create hfield
mjsHField* phf = mjs_addHField(model);
mjsHField* phf = mjs_addHField(spec);
// write error info
mjs_setString(phf->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
@@ -3231,7 +3231,7 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
}
// store child spec in model
mjs_addSpec(model, child);
mjs_addSpec(spec, child);
}
// advance to next element
@@ -3376,8 +3376,8 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
// read childdef
mjsDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjs_findDefault(model, text.c_str());
mjs_findDefault(model, text.c_str());
childdef = mjs_findDefault(spec, text.c_str());
mjs_findDefault(spec, text.c_str());
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
@@ -3420,13 +3420,13 @@ 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->eulerseq, &alt);
mjs_resolveOrientation(rotation, spec->degree, spec->eulerseq, &alt);
// read childdef
mjsDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjs_findDefault(model, text.c_str());
mjs_findDefault(model, text.c_str());
childdef = mjs_findDefault(spec, text.c_str());
mjs_findDefault(spec, text.c_str());
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
@@ -3451,7 +3451,7 @@ 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->eulerseq, &alt);
mjs_resolveOrientation(quat, spec->degree, spec->eulerseq, &alt);
mjuu_setvec(pframe->quat, quat[0], quat[1], quat[2], quat[3]);
// process suffix
@@ -3463,12 +3463,12 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
// attach to parent
if (mjs_attachFrame(pbody, pframe, /*prefix=*/"", suffix.c_str()) != 0) {
throw mjXError(elem, mjs_getError(model));
throw mjXError(elem, mjs_getError(spec));
}
}
// delete subtree
mjs_detachBody(model, subtree);
mjs_detachBody(spec, subtree);
}
// body sub-element
@@ -3476,8 +3476,8 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
// read childdef
mjsDefault* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = mjs_findDefault(model, text.c_str());
mjs_findDefault(model, text.c_str());
childdef = mjs_findDefault(spec, text.c_str());
mjs_findDefault(spec, text.c_str());
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
@@ -3528,11 +3528,11 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
ReadAttrTxt(elem, "body", body_name);
ReadAttrTxt(elem, "prefix", prefix);
mjsBody* child = mjs_findBody(model, (prefix+body_name).c_str());
mjsBody* child = mjs_findBody(spec, (prefix+body_name).c_str());
mjsFrame* pframe = frame ? frame : mjs_addFrame(pbody, nullptr);
if (!child) {
mjSpec* asset = mjs_findSpec(model, model_name.c_str());
mjSpec* asset = mjs_findSpec(spec, model_name.c_str());
if (!asset) {
throw mjXError(0, "could not find model '%s'", model_name.c_str());
}
@@ -3542,7 +3542,7 @@ void mjXReader::Body(XMLElement* section, mjsBody* pbody, mjsFrame* frame) {
}
if (mjs_attachBody(pframe, child, prefix.c_str(), "") != 0) {
mj_deleteSpec(asset);
throw mjXError(elem, mjs_getError(model));
throw mjXError(elem, mjs_getError(spec));
}
} else {
// only set frame to existing body
@@ -3576,19 +3576,19 @@ void mjXReader::Contact(XMLElement* section) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
def = mjs_getSpecDefault(spec);
}
// geom pair to include
if (name=="pair") {
// create pair and parse
mjsPair* ppair = mjs_addPair(model, def);
mjsPair* ppair = mjs_addPair(spec, def);
OnePair(elem, ppair);
}
// body pair to exclude
else if (name=="exclude") {
mjsExclude* pexclude = mjs_addExclude(model);
mjsExclude* pexclude = mjs_addExclude(spec);
string exname, exbody1, exbody2;
// write error info
@@ -3621,11 +3621,11 @@ void mjXReader::Equality(XMLElement* section) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
def = mjs_getSpecDefault(spec);
}
// create equality constraint and parse
mjsEquality* pequality = mjs_addEquality(model, def);
mjsEquality* pequality = mjs_addEquality(spec, def);
OneEquality(elem, pequality);
// advance to next element
@@ -3649,20 +3649,20 @@ void mjXReader::Deformable(XMLElement* section) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
def = mjs_getSpecDefault(spec);
}
// flex sub-element
if (name=="flex") {
// create flex and parse
mjsFlex* pflex = mjs_addFlex(model);
mjsFlex* pflex = mjs_addFlex(spec);
OneFlex(elem, pflex);
}
// skin sub-element
else if (name=="skin") {
// create skin and parse
mjsSkin* pskin = mjs_addSkin(model);
mjsSkin* pskin = mjs_addSkin(spec);
OneSkin(elem, pskin);
}
@@ -3685,11 +3685,11 @@ void mjXReader::Tendon(XMLElement* section) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
def = mjs_getSpecDefault(spec);
}
// create equality constraint and parse
mjsTendon* pten = mjs_addTendon(model, def);
mjsTendon* pten = mjs_addTendon(spec, def);
OneTendon(elem, pten);
// process wrap sub-elements
@@ -3751,11 +3751,11 @@ void mjXReader::Actuator(XMLElement* section) {
// get class if specified, otherwise use default0
mjsDefault* def = GetClass(elem);
if (!def) {
def = mjs_getSpecDefault(model);
def = mjs_getSpecDefault(spec);
}
// create actuator and parse
mjsActuator* pact = mjs_addActuator(model, def);
mjsActuator* pact = mjs_addActuator(spec, def);
OneActuator(elem, pact);
// advance to next element
@@ -3771,7 +3771,7 @@ void mjXReader::Sensor(XMLElement* section) {
XMLElement* elem = FirstChildElement(section);
while (elem) {
// create sensor, get string type
mjsSensor* psen = mjs_addSensor(model);
mjsSensor* psen = mjs_addSensor(spec);
string type = elem->Value();
string text, name, objname, refname;
std::vector<double> userdata;
@@ -4111,7 +4111,7 @@ void mjXReader::Keyframe(XMLElement* section) {
string text, name = "";
// add keyframe
mjsKey* pk = mjs_addKey(model);
mjsKey* pk = mjs_addKey(spec);
// read name, time
ReadAttrTxt(elem, "name", name);
@@ -4167,7 +4167,7 @@ mjsDefault* mjXReader::GetClass(XMLElement* section) {
mjsDefault* def = nullptr;
if (ReadAttrTxt(section, "class", text)) {
def = mjs_findDefault(model, text.c_str());
def = mjs_findDefault(spec, text.c_str());
if (!def) {
throw mjXError(
section,
src/xml/xml_urdf.cc
+17 -17
View File
@@ -62,7 +62,7 @@ mjXURDF::~mjXURDF() {
// clear internal variables
void mjXURDF::Clear(void) {
model = 0;
spec = 0;
urName.clear();
urParent.clear();
@@ -96,25 +96,25 @@ void mjXURDF::Parse(
if (mjc) {
XMLElement *section;
if ((section = FindSubElem(mjc, "compiler"))) {
mjXReader::Compiler(section, model);
mjXReader::Compiler(section, spec);
}
if ((section = FindSubElem(mjc, "option"))) {
mjXReader::Option(section, &model->option);
mjXReader::Option(section, &spec->option);
}
if ((section = FindSubElem(mjc, "size"))) {
mjXReader::Size(section, model);
mjXReader::Size(section, spec);
}
}
// enforce required compiler defaults for URDF
model->degree = false;
spec->degree = false;
// get model name
std::string modelname;
if (ReadAttrTxt(root, "name", modelname)) {
mjs_setString(model->modelname, modelname.c_str());
mjs_setString(spec->modelname, modelname.c_str());
}
// find and register all materials
@@ -208,7 +208,7 @@ void mjXURDF::Parse(
// override the pose for the base link and add a free joint
for (int i = 0; i < (int)urName.size(); i++) {
if (urParent[i] < 0) {
mjsBody* world = mjs_findBody(model, "world");
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* pbody = mjs_findChild(world, urName[i].c_str());
mjuu_copyvec(pbody->pos, pos, 3);
mjuu_copyvec(pbody->quat, quat, 4);
@@ -234,7 +234,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
// get body name and pointer to mjsBody
ReadAttrTxt(body_elem, "name", name, true);
name = GetPrefixedName(name);
world = mjs_findBody(model, "world");
world = mjs_findBody(spec, "world");
pbody = mjs_findChild(world, name.c_str());
if (!pbody) {
throw mjXError(body_elem, "URDF body not found"); // SHOULD NOT OCCUR
@@ -316,7 +316,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
}
}
// create geom if not discarded
if (!model->discardvisual) {
if (!spec->discardvisual) {
pgeom = Geom(elem, pbody, false);
// save color
@@ -392,7 +392,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
elem = FindSubElem(joint_elem, "parent", true);
ReadAttrTxt(elem, "link", name, true);
name = GetPrefixedName(name);
world = mjs_findBody(model, "world");
world = mjs_findBody(spec, "world");
parent = mjs_findChild(world, name.c_str());
if (!parent) { // SHOULD NOT OCCUR
throw mjXError(elem, "invalid parent name in URDF joint definition");
@@ -402,7 +402,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
elem = FindSubElem(joint_elem, "child", true);
ReadAttrTxt(elem, "link", name, true);
name = GetPrefixedName(name);
world = mjs_findBody(model, "world");
world = mjs_findBody(spec, "world");
pbody = mjs_findChild(world, name.c_str());
if (!pbody) { // SHOULD NOT OCCUR
throw mjXError(elem, "invalid child name in URDF joint definition");
@@ -583,7 +583,7 @@ mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
.value_or(default_meshscale);
// strip file name if necessary
if (model->strippath) {
if (spec->strippath) {
meshfile = mjuu_strippath(meshfile);
}
@@ -592,19 +592,19 @@ mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
meshname = mjuu_stripext(meshname);
// look for existing mesh
mjsMesh* mesh = mjs_findMesh(model, meshname.c_str());
mjsMesh* mesh = mjs_findMesh(spec, meshname.c_str());
mjsMesh* pmesh = 0;
// does not exist: create
if (!mesh) {
pmesh = mjs_addMesh(model, 0);
pmesh = mjs_addMesh(spec, 0);
}
// exists with different scale: append name with '1', create
else if (mesh->scale[0]!=meshscale[0] ||
mesh->scale[1]!=meshscale[1] ||
mesh->scale[2]!=meshscale[2]) {
pmesh = mjs_addMesh(model, 0);
pmesh = mjs_addMesh(spec, 0);
meshname = meshname + "1";
}
@@ -703,14 +703,14 @@ void mjXURDF::AddToTree(int n) {
// get pointer to parent in mjCModel tree
mjsBody *parent = 0, *child = 0, *world = 0;
if (urParent[n]>=0) {
world = mjs_findBody(model, "world");
world = mjs_findBody(spec, "world");
parent = mjs_findChild(world, urName[urParent[n]].c_str());
if (!parent)
throw mjXError(0, "URDF body parent should already be in tree: %s",
urName[urParent[n]].c_str()); // SHOULD NOT OCCUR
} else {
parent = mjs_findBody(model, "world");
parent = mjs_findBody(spec, "world");
}
// add this body