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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
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src/xml/xml_urdf.cc
+17 -17
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@@ -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