Table-driven attribute reading: rebase the reader on generated rows.
Every mechanical attribute read in MJCF now derives from mjcf.schema. generate_read_table.py emits typed mjXAttr rows (mjcf_read_table.inc, doc_test-gated) binding each attribute to its spec struct field; field offsets are offsetof() expressions, so binding mistakes are compile errors, and the field's C type -- parsed from the headers -- selects the row kind, so mjtNum-versus-double is decided by the struct, not the schema. mjXReader::ReadAttrTable is the generic loop; its static core also serves the section parsers and records XML-authored fields via mjs_setAuthored for attach conflict resolution. Row kinds cover strings, string lists, numeric scalars and vectors (exact and ranged), enums (int- and byte-width), bitwise flag sets, bools, unbounded typed vectors, fixed char arrays, and identity constants declared by 'set'. The rows are inline variables, and carry the writing=custom flag, because the writer will share them. The keyword maps the rows reference are generated too: the ~48 hand-written mjMap tables become mjcf_map.h, one map and size constant per enum as C++17 inline variables, retiring the hand-maintained extern block in xml_base.h. Map names follow the schema enum names (fluid->fluidshape, TFAuto->FalseTrueAuto, FAuto->FalseAuto, joint->jointtype, geom->geomtype, jac->jacobian); all maps are key-order- and value-identical to the hand tables they replace, and bool_map is hand-emitted (the bool type is built in, not a schema enum). The OneX() parsers reduce to genuine irregulars, schema-marked as reading=custom: orientation alternatives, file attributes (VFS and asset-dir context), the actuator shorthand remappings and per-type input maps, springlength's one-value copy, mesh builtin construction, hfield elevation, texture cube files, flexcomp seeding, the memory suffix parse, and the flag bit families. All 41 sensors that are pure identity-plus-references -- including the frame family and insidesite -- dispatch through a generated tag table; frame-sensor objtype/reftype vocabulary tightens from the full mju_str2Type namespace to the documented body/xbody/geom/site/camera subset, so an invalid keyword now fails at parse time instead of compile time. The equality family and both tendon types read shared group rows; the twelve actuator shorthands share the general rows, with per-tag legality enforced by the schema check. Sections bind non-mjs structs, the visual sub-sections reaching their anonymous sub-structs through member paths declared by an element-level field= facet. Latent irregularities surfaced by the migration and preserved via schema declarations or remnants: key's name is set even when absent, eulerseq and gridlayout are fixed char arrays (chars[n], arity in characters), gridlayout's length-must-match-gridsize stays a value-conditional remnant, and constructor-style elements (tendon wraps, asset model, replicate, attach) are annotated as such -- their attributes are arguments, not field writes. Two coherence tests guard the schema against the C sources: every schema enum constant must be a member of the C enum it claims, and every C member must be a keyword, a count sentinel, or a documented exemption; and generate_default_table.py emits one row per defaulted attribute (mjcf_default_table.inc), compared by SchemaDefaultsTest against a freshly-constructed spec -- the schema cannot disagree with the C default-constructors without failing the suite. Verified: doc_test regenerates and diffs every artifact; the full suite; and an A/B harness compiling the model corpus against the pre-migration reader -- saved XML and binary models are byte-identical. PiperOrigin-RevId: 958075724 Change-Id: I9715fe4deeb438eec988fd5084d74ba8b466b10b
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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commit
4278c7b0cd
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# Copyright 2026 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Generates the default-value check table from src/xml/mjcf.schema.
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The schema declares attribute defaults, but the defaults that act live in
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the C default-constructors (mjs_default*, mj_defaultOption, ...). This
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emits src/xml/mjcf_default_table.inc: one row per defaulted attribute,
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binding the declared values to the field they describe, consumed by
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SchemaDefaultsTest, which compares every row against a freshly-constructed
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spec -- so a schema default that disagrees with the C defaults is a test
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failure, not documentation drift. Checked in and gated by
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test/doc/doc_test.py.
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"""
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import os
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import sys
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_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
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sys.path.insert(0, _SCRIPT_DIR)
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import generate_read_table
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import mjcf_schema
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_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
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SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
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# kind codes shared with the test
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KIND_BY_CTYPE = {'double': 0, 'float': 1, 'int': 2,
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'mjtByte': 3, 'mjtBool': 3, 'mjtNum': 4}
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_HEADER = '''\
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// Copyright 2026 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
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// doc/generate/generate_default_table.py; test/doc/doc_test.py checks
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// freshness.
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//
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// One row per schema attribute with a declared default, binding the declared
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// values to the bound field. SchemaDefaultsTest compares every row against a
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// freshly-constructed spec: the schema's defaults must agree with the C
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// default-constructors. Rows are {attr, offset, kind, len, ndecl, values};
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// values beyond ndecl are expected to be zero; kind: 0=double 1=float 2=int
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// 3=byte 4=mjtNum.
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// clang-format off
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struct mjXDefaultEntry {
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const char* attr;
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int offset;
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int kind;
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int len;
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int ndecl;
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double value[8];
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};
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struct mjXDefaultTable {
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const char* structname;
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const mjXDefaultEntry* entries;
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int n;
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};
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'''
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def _values(schema, attr, ctype):
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"""(ndecl, [C value expressions]) for an attribute's declared default."""
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default = attr.default
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if attr.type == 'enum':
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constants = dict(schema.enums[attr.target].items)
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return 1, [f'(double){constants[default]}']
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if attr.type == 'bool':
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return 1, ['1' if default == 'true' else '0']
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values = default if isinstance(default, tuple) else (default,)
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return len(values), [repr(v) for v in values]
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def collect(schema, structs):
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"""struct key -> list of row tuples, deduplicated across elements."""
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tables = {}
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seen = {}
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for element in schema.elements.values():
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if not element.spec:
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continue
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sub = element.facets.get('field')
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key = f'{element.spec}.{sub}' if sub else element.spec
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fields = structs.get(key)
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if fields is None:
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continue
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prefix = f'{sub}.' if sub else ''
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for attr in schema.expanded_attrs(element):
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if attr.default is None or attr.type in ('string', 'file', 'chars',
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'ref', 'id', 'flags'):
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continue
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field = attr.facets.get('field', attr.name)
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entry = fields.get(field)
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if entry is None:
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if 'reading' in attr.facets:
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continue # custom lowering with no direct binding
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raise ValueError(f'{element.name}.{attr.name}: no field '
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f'{element.spec}.{field}')
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ctype, dim = entry
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if ctype not in KIND_BY_CTYPE and not ctype.startswith('mjt'):
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raise ValueError(f'{element.name}.{attr.name}: default bound to '
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f'field {field} ({ctype})')
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kind = KIND_BY_CTYPE.get(ctype, 2) # other mjt enums are int-sized
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length = dim if dim is not None else '1'
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ndecl, values = _values(schema, attr, ctype)
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if ndecl > 8:
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raise ValueError(f'{element.name}.{attr.name}: {ndecl} default '
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'values exceed the row capacity')
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row = (attr.name, f'(int)offsetof({element.spec}, {prefix}{field})',
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kind, str(length), ndecl, values)
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prior = seen.get((key, field))
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if prior is not None:
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if prior != (ndecl, values):
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raise ValueError(f'{element.name}.{attr.name}: conflicting '
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f'defaults for {key}.{field}')
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continue
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seen[(key, field)] = (ndecl, values)
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tables.setdefault(key, []).append(row)
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return tables
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def generate() -> str:
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schema = mjcf_schema.parse_file(SCHEMA_PATH)
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structs = generate_read_table.parse_spec_structs(
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generate_read_table.SPEC_H_PATH, generate_read_table.MODEL_H_PATH)
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tables = collect(schema, structs)
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out = [_HEADER]
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for key in sorted(tables):
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array = 'kDefaults_' + key.replace('.', '_')
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out.append(f'static const mjXDefaultEntry {array}[] = {{')
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for attr, offset, kind, length, ndecl, values in tables[key]:
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vals = ', '.join(values)
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out.append(f' {{"{attr}", {offset}, {kind}, {length}, {ndecl}, '
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f'{{{vals}}}}},')
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out.append('};')
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out.append('')
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out.append('static const mjXDefaultTable kDefaultTables[] = {')
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for key in sorted(tables):
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array = 'kDefaults_' + key.replace('.', '_')
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root = key.split('.')[0]
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out.append(f' {{"{root}", {array}, '
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f'(int)(sizeof({array}) / sizeof({array}[0]))}},')
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out.append('};')
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out.append('static const int kDefaultTablesN = '
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'(int)(sizeof(kDefaultTables) / sizeof(kDefaultTables[0]));')
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out.append('// clang-format on')
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return '\n'.join(out) + '\n'
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def main() -> int:
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if len(sys.argv) > 2:
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sys.exit('usage: generate_default_table.py [output.inc]')
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text = generate()
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if len(sys.argv) == 2:
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with open(sys.argv[1], 'w', encoding='utf-8') as file:
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file.write(text)
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else:
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sys.stdout.write(text)
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return 0
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if __name__ == '__main__':
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sys.exit(main())
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