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More schema-related cleanup.

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- Declare every nonzero default; make the defaults cross-check total.
- Skip default-valued attributes in the hand-written writer paths.
- Fix type facts on hand-read elements, found by the dm_control diff.

PiperOrigin-RevId: 958999733
Change-Id: I3064ccc6ae1f049c20f273abc234cd02990a8b7e
This commit is contained in:
Yuval Tassa
2026-08-04 07:04:38 -07:00
committed by Copybara-Service
parent 10793e539e
commit 574b6bd6bf
8 changed files with 885 additions and 469 deletions
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src/xml/xml_native_writer.cc
+20 -12
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@@ -359,17 +359,17 @@ void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
if (classname != joint->classname && joint->classname != "main") {
WriteAttrTxt(elem, "class", joint->classname);
}
if (joint->type != mjJNT_FREE) {
WriteAttr(elem, "pos", 3, joint->pos);
}
if (joint->type != mjJNT_FREE && joint->type != mjJNT_BALL) {
WriteAttr(elem, "axis", 3, joint->axis);
}
}
// defaults and regular
WriteAttrTable(elem, static_cast<const mjsJoint*>(joint), &def->Joint().spec,
kJointAttrs, kJointAttrsN);
if (joint->type != mjJNT_FREE) {
WriteAttr(elem, "pos", 3, joint->pos, def->Joint().spec.pos);
}
if (joint->type != mjJNT_FREE && joint->type != mjJNT_BALL) {
WriteAttr(elem, "axis", 3, joint->axis, def->Joint().spec.axis);
}
if (joint->type != mjJNT_FREE) {
WriteAttrKey(elem, "limited", FalseTrueAuto_map, 3, joint->limited, def->Joint().limited);
}
@@ -676,25 +676,33 @@ void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* equality, mjCDe
if (equality->objtype == mjOBJ_BODY) {
WriteAttrTxt(elem, "body1", mjs_getString(equality->name1));
WriteAttrTxt(elem, "body2", mjs_getString(equality->name2));
WriteAttr(elem, "anchor", 3, equality->data);
WriteAttr(elem, "relpose", 7, equality->data+3);
// unlike connect, weld's body semantic does not require anchor,
// and the reader zeroes it when absent: zeros is the default,
// not the constructor's union payload
double zero3[3] = {0, 0, 0};
WriteAttr(elem, "anchor", 3, equality->data, zero3);
WriteAttr(elem, "relpose", 7, equality->data+3,
def->Equality().spec.data+3);
} else {
WriteAttrTxt(elem, "site1", mjs_getString(equality->name1));
WriteAttrTxt(elem, "site2", mjs_getString(equality->name2));
}
WriteAttr(elem, "torquescale", 1, equality->data+10);
WriteAttr(elem, "torquescale", 1, equality->data+10,
def->Equality().spec.data+10);
break;
case mjEQ_JOINT:
WriteAttrTxt(elem, "joint1", mjs_getString(equality->name1));
WriteAttrTxt(elem, "joint2", mjs_getString(equality->name2));
WriteAttr(elem, "polycoef", 5, equality->data);
WriteAttr(elem, "polycoef", 5, equality->data,
def->Equality().spec.data);
break;
case mjEQ_TENDON:
WriteAttrTxt(elem, "tendon1", mjs_getString(equality->name1));
WriteAttrTxt(elem, "tendon2", mjs_getString(equality->name2));
WriteAttr(elem, "polycoef", 5, equality->data);
WriteAttr(elem, "polycoef", 5, equality->data,
def->Equality().spec.data);
break;
case mjEQ_FLEX:
@@ -704,7 +712,7 @@ void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* equality, mjCDe
case mjEQ_FLEXSTRAIN:
WriteAttrTxt(elem, "flex", mjs_getString(equality->name1));
WriteAttr(elem, "cell", 3, equality->data);
WriteAttr(elem, "cell", 3, equality->data, def->Equality().spec.data);
break;
default: