Remove classname from mjs* structs.
PiperOrigin-RevId: 647277317 Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
62e2842116
commit
f6cc3f4091
@@ -1289,16 +1289,13 @@ void mjXReader::Statistic(XMLElement* section) {
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// flex element parser
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void mjXReader::OneFlex(XMLElement* elem, mjsFlex* pflex) {
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string text, name, classname, material;
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string text, name, material;
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int n;
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// read attributes
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pflex->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "classname", classname)) {
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mjs_setString(pflex->classname, classname.c_str());
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}
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if (ReadAttrTxt(elem, "material", material)) {
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mjs_setString(pflex->material, material.c_str());
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}
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@@ -1364,15 +1361,12 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* pflex) {
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// mesh element parser
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void mjXReader::OneMesh(XMLElement* elem, mjsMesh* pmesh) {
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int n;
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string text, name, classname, content_type;
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string text, name, content_type;
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// read attributes
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pmesh->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(pmesh->classname, classname.c_str());
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}
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if (ReadAttrTxt(elem, "content_type", content_type)) {
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mjs_setString(pmesh->content_type, content_type.c_str());
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}
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@@ -1526,16 +1520,13 @@ void mjXReader::OneSkin(XMLElement* elem, mjsSkin* pskin) {
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// material element parser
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void mjXReader::OneMaterial(XMLElement* elem, mjsMaterial* pmat) {
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string text, name, classname, texture;
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string text, name, texture;
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int n;
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// read attributes
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pmat->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(pmat->classname, classname.c_str());
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}
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if (ReadAttrTxt(elem, "texture", texture)) {
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mjs_setString(pmat->texture, texture.c_str());
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}
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@@ -1559,7 +1550,7 @@ void mjXReader::OneMaterial(XMLElement* elem, mjsMaterial* pmat) {
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// joint element parser
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void mjXReader::OneJoint(XMLElement* elem, mjsJoint* pjoint) {
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string text, name, classname;
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string text, name;
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std::vector<double> userdata;
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int n;
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@@ -1567,9 +1558,6 @@ void mjXReader::OneJoint(XMLElement* elem, mjsJoint* pjoint) {
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pjoint->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(pjoint->classname, classname.c_str());
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}
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if (MapValue(elem, "type", &n, joint_map, joint_sz)) {
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pjoint->type = (mjtJoint)n;
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}
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@@ -1609,7 +1597,7 @@ void mjXReader::OneJoint(XMLElement* elem, mjsJoint* pjoint) {
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// geom element parser
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void mjXReader::OneGeom(XMLElement* elem, mjsGeom* pgeom) {
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string text, name, classname;
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string text, name;
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std::vector<double> userdata;
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std::string hfieldname, meshname, material;
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int n;
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@@ -1618,9 +1606,6 @@ void mjXReader::OneGeom(XMLElement* elem, mjsGeom* pgeom) {
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pgeom->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(pgeom->classname, classname.c_str());
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}
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if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
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pgeom->type = (mjtGeom)n;
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}
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@@ -1685,7 +1670,7 @@ void mjXReader::OneGeom(XMLElement* elem, mjsGeom* pgeom) {
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// site element parser
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void mjXReader::OneSite(XMLElement* elem, mjsSite* site) {
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int n;
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string text, name, classname;
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string text, name;
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std::vector<double> userdata;
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std::string material;
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@@ -1693,9 +1678,6 @@ void mjXReader::OneSite(XMLElement* elem, mjsSite* site) {
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(site->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(site->classname, classname.c_str());
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}
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if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
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site->type = (mjtGeom)n;
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}
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@@ -1722,16 +1704,13 @@ void mjXReader::OneSite(XMLElement* elem, mjsSite* site) {
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// camera element parser
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void mjXReader::OneCamera(XMLElement* elem, mjsCamera* pcam) {
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int n;
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string text, name, classname, targetbody;
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string text, name, targetbody;
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std::vector<double> userdata;
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// read attributes
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pcam->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(pcam->classname, classname.c_str());
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}
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if (ReadAttrTxt(elem, "target", targetbody)) {
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mjs_setString(pcam->targetbody, targetbody.c_str());
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}
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@@ -1780,15 +1759,12 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* pcam) {
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// light element parser
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void mjXReader::OneLight(XMLElement* elem, mjsLight* plight) {
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int n;
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string text, name, classname, targetbody;
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string text, name, targetbody;
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// read attributes
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(plight->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(plight->classname, classname.c_str());
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}
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if (ReadAttrTxt(elem, "target", targetbody)) {
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mjs_setString(plight->targetbody, targetbody.c_str());
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}
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@@ -1822,13 +1798,10 @@ void mjXReader::OneLight(XMLElement* elem, mjsLight* plight) {
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// pair element parser
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void mjXReader::OnePair(XMLElement* elem, mjsPair* ppair) {
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string text, name, classname, geomname1, geomname2;
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string text, name, geomname1, geomname2;
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// regular only
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if (!readingdefaults) {
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(ppair->classname, classname.c_str());
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}
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if (ReadAttrTxt(elem, "geom1", geomname1)) {
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mjs_setString(ppair->geomname1, geomname1.c_str());
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}
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@@ -1858,7 +1831,7 @@ void mjXReader::OnePair(XMLElement* elem, mjsPair* ppair) {
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// equality element parser
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void mjXReader::OneEquality(XMLElement* elem, mjsEquality* pequality) {
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int n;
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string text, name1, name2, name, classname;
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string text, name1, name2, name;
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// read type (bad keywords already detected by schema)
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text = elem->Value();
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@@ -1869,9 +1842,6 @@ void mjXReader::OneEquality(XMLElement* elem, mjsEquality* pequality) {
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pequality->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(pequality->classname, classname.c_str());
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};
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switch (pequality->type) {
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case mjEQ_CONNECT:
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@@ -1935,16 +1905,13 @@ void mjXReader::OneEquality(XMLElement* elem, mjsEquality* pequality) {
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// tendon element parser
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void mjXReader::OneTendon(XMLElement* elem, mjsTendon* pten) {
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string text, name, classname, material;
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string text, name, material;
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std::vector<double> userdata;
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// read attributes
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pten->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(pten->classname, classname.c_str());
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}
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ReadAttrInt(elem, "group", &pten->group);
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if (ReadAttrTxt(elem, "material", material)) {
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mjs_setString(pten->material, material.c_str());
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@@ -1979,15 +1946,12 @@ void mjXReader::OneTendon(XMLElement* elem, mjsTendon* pten) {
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// actuator element parser
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void mjXReader::OneActuator(XMLElement* elem, mjsActuator* pact) {
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string text, type, name, classname, target, slidersite, refsite;
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string text, type, name, target, slidersite, refsite;
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// common attributes
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if (ReadAttrTxt(elem, "name", name)) {
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mjs_setString(pact->name, name.c_str());
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}
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if (ReadAttrTxt(elem, "class", classname)) {
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mjs_setString(pact->classname, classname.c_str());
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}
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ReadAttrInt(elem, "group", &pact->group);
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MapValue(elem, "ctrllimited", &pact->ctrllimited, TFAuto_map, 3);
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MapValue(elem, "forcelimited", &pact->forcelimited, TFAuto_map, 3);
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