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Remove classname from mjs* structs.
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PiperOrigin-RevId: 647277317
Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
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@quagla
quagla authored and Copybara-Service committed Jun 27, 2024
1 parent 62e2842 commit f6cc3f4
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Showing 9 changed files with 110 additions and 254 deletions.
15 changes: 0 additions & 15 deletions doc/includes/references.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1743,7 +1743,6 @@ typedef struct mjsFrame_ { // frame specification
typedef struct mjsJoint_ { // joint specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjtJoint type; // joint type

// kinematics
Expand Down Expand Up @@ -1781,7 +1780,6 @@ typedef struct mjsJoint_ { // joint specification
typedef struct mjsGeom_ { // geom specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // classname
mjtGeom type; // geom type

// frame, size
Expand Down Expand Up @@ -1828,7 +1826,6 @@ typedef struct mjsGeom_ { // geom specification
typedef struct mjsSite_ { // site specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// frame, size
double pos[3]; // position
Expand All @@ -1850,7 +1847,6 @@ typedef struct mjsSite_ { // site specification
typedef struct mjsCamera_ { // camera specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// extrinsics
double pos[3]; // position
Expand Down Expand Up @@ -1878,7 +1874,6 @@ typedef struct mjsCamera_ { // camera specification
typedef struct mjsLight_ { // light specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// frame
double pos[3]; // position
Expand All @@ -1904,7 +1899,6 @@ typedef struct mjsLight_ { // light specification
typedef struct mjsFlex_ { // flex specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// contact properties
int contype; // contact type
Expand Down Expand Up @@ -1943,7 +1937,6 @@ typedef struct mjsFlex_ { // flex specification
typedef struct mjsMesh_ { // mesh specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjString* content_type; // content type of file
mjString* file; // mesh file
double refpos[3]; // reference position
Expand Down Expand Up @@ -1974,7 +1967,6 @@ typedef struct mjsHField_ { // height field specification
typedef struct mjsSkin_ { // skin specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjString* file; // skin file
mjString* material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
Expand All @@ -1999,7 +1991,6 @@ typedef struct mjsSkin_ { // skin specification
typedef struct mjsTexture_ { // texture specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjtTexture type; // texture type

// method 1: builtin
Expand Down Expand Up @@ -2031,7 +2022,6 @@ typedef struct mjsTexture_ { // texture specification
typedef struct mjsMaterial_ { // material specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjString* texture; // name of texture (empty: none)
mjtByte texuniform; // make texture cube uniform
float texrepeat[2]; // texture repetition for 2D mapping
Expand All @@ -2047,7 +2037,6 @@ typedef struct mjsMaterial_ { // material specification
typedef struct mjsPair_ { // pair specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjString* geomname1; // name of geom 1
mjString* geomname2; // name of geom 2

Expand All @@ -2071,7 +2060,6 @@ typedef struct mjsExclude_ { // exclude specification
typedef struct mjsEquality_ { // equality specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data
mjtByte active; // is equality initially active
Expand All @@ -2084,7 +2072,6 @@ typedef struct mjsEquality_ { // equality specification
typedef struct mjsTendon_ { // tendon specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// stiffness, damping, friction
double stiffness; // stiffness coefficient
Expand Down Expand Up @@ -2118,7 +2105,6 @@ typedef struct mjsWrap_ { // wrapping object specification
typedef struct mjsActuator_ { // actuator specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// gain, bias
mjtGain gaintype; // gain type
Expand Down Expand Up @@ -2160,7 +2146,6 @@ typedef struct mjsActuator_ { // actuator specification
typedef struct mjsSensor_ { // sensor specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// sensor definition
mjtSensor type; // type of sensor
Expand Down
15 changes: 0 additions & 15 deletions include/mujoco/mjspec.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,6 @@ typedef struct mjsFrame_ { // frame specification
typedef struct mjsJoint_ { // joint specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjtJoint type; // joint type

// kinematics
Expand Down Expand Up @@ -262,7 +261,6 @@ typedef struct mjsJoint_ { // joint specification
typedef struct mjsGeom_ { // geom specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // classname
mjtGeom type; // geom type

// frame, size
Expand Down Expand Up @@ -311,7 +309,6 @@ typedef struct mjsGeom_ { // geom specification
typedef struct mjsSite_ { // site specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// frame, size
double pos[3]; // position
Expand All @@ -335,7 +332,6 @@ typedef struct mjsSite_ { // site specification
typedef struct mjsCamera_ { // camera specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// extrinsics
double pos[3]; // position
Expand Down Expand Up @@ -365,7 +361,6 @@ typedef struct mjsCamera_ { // camera specification
typedef struct mjsLight_ { // light specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// frame
double pos[3]; // position
Expand Down Expand Up @@ -393,7 +388,6 @@ typedef struct mjsLight_ { // light specification
typedef struct mjsFlex_ { // flex specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// contact properties
int contype; // contact type
Expand Down Expand Up @@ -434,7 +428,6 @@ typedef struct mjsFlex_ { // flex specification
typedef struct mjsMesh_ { // mesh specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjString* content_type; // content type of file
mjString* file; // mesh file
double refpos[3]; // reference position
Expand Down Expand Up @@ -470,7 +463,6 @@ typedef struct mjsHField_ { // height field specification
typedef struct mjsSkin_ { // skin specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjString* file; // skin file
mjString* material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
Expand All @@ -497,7 +489,6 @@ typedef struct mjsSkin_ { // skin specification
typedef struct mjsTexture_ { // texture specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjtTexture type; // texture type

// method 1: builtin
Expand Down Expand Up @@ -531,7 +522,6 @@ typedef struct mjsTexture_ { // texture specification
typedef struct mjsMaterial_ { // material specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjString* texture; // name of texture (empty: none)
mjtByte texuniform; // make texture cube uniform
float texrepeat[2]; // texture repetition for 2D mapping
Expand All @@ -549,7 +539,6 @@ typedef struct mjsMaterial_ { // material specification
typedef struct mjsPair_ { // pair specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjString* geomname1; // name of geom 1
mjString* geomname2; // name of geom 2

Expand Down Expand Up @@ -577,7 +566,6 @@ typedef struct mjsExclude_ { // exclude specification
typedef struct mjsEquality_ { // equality specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name
mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data
mjtByte active; // is equality initially active
Expand All @@ -592,7 +580,6 @@ typedef struct mjsEquality_ { // equality specification
typedef struct mjsTendon_ { // tendon specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// stiffness, damping, friction
double stiffness; // stiffness coefficient
Expand Down Expand Up @@ -630,7 +617,6 @@ typedef struct mjsWrap_ { // wrapping object specification
typedef struct mjsActuator_ { // actuator specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// gain, bias
mjtGain gaintype; // gain type
Expand Down Expand Up @@ -674,7 +660,6 @@ typedef struct mjsActuator_ { // actuator specification
typedef struct mjsSensor_ { // sensor specification
mjsElement* element; // element type
mjString* name; // name
mjString* classname; // class name

// sensor definition
mjtSensor type; // type of sensor
Expand Down
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