Replace mju_error_i and mju_error_s with mju_error.

PiperOrigin-RevId: 918279903
Change-Id: I73fd64fee8321bf283689f8b18e39ad720d551f1

Author: yuvaltassa

mjpc/agent.cc

@@ -634,7 +634,7 @@ void Agent::GUI(mjUI& ui) {
         // necessary casting when reading such values.
 
       } else {
-        mju_error_s("Selection list not found for %s", name);
+        mju_error("Selection list not found for %s", name);
         return;
       }
       shift += 1;

mjpc/planners/cross_entropy/planner.cc

@@ -72,8 +72,8 @@ void CrossEntropyPlanner::Initialize(mjModel* model, const Task& task) {
                                       model, "sampling_representation");
 
   if (num_trajectory_ > kMaxTrajectory) {
-    mju_error_i("Too many trajectories, %d is the maximum allowed.",
-                kMaxTrajectory);
+    mju_error("Too many trajectories, %d is the maximum allowed.",
+              kMaxTrajectory);
   }
 }
 

mjpc/planners/sample_gradient/planner.cc

@@ -69,8 +69,8 @@ void SampleGradientPlanner::Initialize(mjModel* model, const Task& task) {
   gradient_filter_ = GetNumberOrDefault(1.0, model, "sample_gradient_filter");
 
   if (num_trajectory_ > kMaxTrajectory) {
-    mju_error_i("Too many trajectories, %d is the maximum allowed.",
-                kMaxTrajectory);
+    mju_error("Too many trajectories, %d is the maximum allowed.",
+              kMaxTrajectory);
   }
 }
 

mjpc/planners/sampling/planner.cc

@@ -68,8 +68,8 @@ void SamplingPlanner::Initialize(mjModel* model, const Task& task) {
   sliding_plan_ = GetNumberOrDefault(0, model, "sampling_sliding_plan");
 
   if (num_trajectory_ > kMaxTrajectory) {
-    mju_error_i("Too many trajectories, %d is the maximum allowed.",
-                kMaxTrajectory);
+    mju_error("Too many trajectories, %d is the maximum allowed.",
+              kMaxTrajectory);
   }
 
   winner = 0;

mjpc/tasks/humanoid/stand/stand.cc

@@ -96,7 +96,7 @@ void Stand::ResidualFn::Residual(const mjModel* model, const mjData* data,
     }
   }
   if (user_sensor_dim != counter) {
-    mju_error_i(
+    mju_error(
         "mismatch between total user-sensor dimension "
         "and actual length of residual %d",
         counter);

mjpc/tasks/humanoid/walk/walk.cc

@@ -172,7 +172,7 @@ void Walk::ResidualFn::Residual(const mjModel* model, const mjData* data,
     }
   }
   if (user_sensor_dim != counter) {
-    mju_error_i(
+    mju_error(
         "mismatch between total user-sensor dimension "
         "and actual length of residual %d",
         counter);

mjpc/tasks/panda/panda.cc

@@ -64,7 +64,7 @@ void Panda::ResidualFn::Residual(const mjModel* model, const mjData* data,
     }
   }
   if (user_sensor_dim != counter) {
-    mju_error_i(
+    mju_error(
         "mismatch between total user-sensor dimension "
         "and actual length of residual %d",
         counter);

mjpc/tasks/quadruped/quadruped.cc

@@ -548,7 +548,7 @@ void QuadrupedFlat::ResetLocked(const mjModel* model) {
   int foot_index = 0;
   for (const char* footname : {"FL", "HL", "FR", "HR"}) {
     int foot_id = mj_name2id(model, mjOBJ_GEOM, footname);
-    if (foot_id < 0) mju_error_s("geom '%s' not found", footname);
+    if (foot_id < 0) mju_error("geom '%s' not found", footname);
     residual_.foot_geom_id_[foot_index] = foot_id;
     foot_index++;
   }
@@ -557,7 +557,7 @@ void QuadrupedFlat::ResetLocked(const mjModel* model) {
   int shoulder_index = 0;
   for (const char* shouldername : {"FL_hip", "HL_hip", "FR_hip", "HR_hip"}) {
     int foot_id = mj_name2id(model, mjOBJ_BODY, shouldername);
-    if (foot_id < 0) mju_error_s("body '%s' not found", shouldername);
+    if (foot_id < 0) mju_error("body '%s' not found", shouldername);
     residual_.shoulder_body_id_[shoulder_index] = foot_id;
     shoulder_index++;
   }

mjpc/tasks/walker/walker.cc

@@ -63,8 +63,8 @@ void Walker::ResidualFn::Residual(const mjModel* model, const mjData* data,
     }
   }
   if (user_sensor_dim != counter) {
-    mju_error_i("mismatch between total user-sensor dimension "
-                "and actual length of residual %d", counter);
+    mju_error("mismatch between total user-sensor dimension "
+              "and actual length of residual %d", counter);
   }
 }
 }  // namespace mjpc

mjpc/utilities.cc

@@ -197,7 +197,7 @@ double DefaultParameterValue(const mjModel* model, std::string_view name) {
   int id =
       mj_name2id(model, mjOBJ_NUMERIC, absl::StrCat("residual_", name).c_str());
   if (id == -1) {
-    mju_error_s("Parameter '%s' not found", std::string(name).c_str());
+    mju_error("Parameter '%s' not found", std::string(name).c_str());
     return 0;
   }
   return model->numeric_data[model->numeric_adr[id]];
@@ -209,7 +209,7 @@ int ParameterIndex(const mjModel* model, std::string_view name) {
       mj_name2id(model, mjOBJ_NUMERIC, absl::StrCat("residual_", name).c_str());
 
   if (id == -1) {
-    mju_error_s("Parameter '%s' not found", std::string(name).c_str());
+    mju_error("Parameter '%s' not found", std::string(name).c_str());
   }
 
   int i;