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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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test/xml/xml_native_writer_test.cc
+81
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@@ -1638,5 +1638,86 @@ TEST_F(XMLWriterTest, EmptyFlagsAttribute) {
EXPECT_THAT(saved_xml, Not(HasSubstr("output=")));
}
TEST_F(XMLWriterTest, OmitsDefaultJointPosAxis) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="b">
<joint name="j" type="hinge"/>
<geom size=".1"/>
</body>
</worldbody>
</mujoco>
)";
MjModelPtr model = LoadModelFromString(xml);
ASSERT_THAT(model.get(), NotNull());
std::string saved_xml = SaveAndReadXml(model.get());
EXPECT_THAT(saved_xml, Not(HasSubstr("pos=\"0 0 0\"")));
EXPECT_THAT(saved_xml, Not(HasSubstr("axis=")));
}
TEST_F(XMLWriterTest, KeepsAuthoredJointPosAxis) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="b">
<joint name="j" type="hinge" pos="0 0 0.5" axis="1 0 0"/>
<geom size=".1"/>
</body>
</worldbody>
</mujoco>
)";
MjModelPtr model = LoadModelFromString(xml);
ASSERT_THAT(model.get(), NotNull());
std::string saved_xml = SaveAndReadXml(model.get());
EXPECT_THAT(saved_xml, HasSubstr("pos=\"0 0 0.5\""));
EXPECT_THAT(saved_xml, HasSubstr("axis=\"1 0 0\""));
}
TEST_F(XMLWriterTest, OmitsDefaultEqualityData) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="b1"><joint name="j1" type="hinge"/><geom size=".1"/></body>
<body name="b2"><joint name="j2" type="hinge"/><geom size=".1"/></body>
</worldbody>
<equality>
<weld body1="b1" body2="b2"/>
<joint joint1="j1" joint2="j2"/>
</equality>
</mujoco>
)";
MjModelPtr model = LoadModelFromString(xml);
ASSERT_THAT(model.get(), NotNull());
std::string saved_xml = SaveAndReadXml(model.get());
EXPECT_THAT(saved_xml, Not(HasSubstr("anchor=")));
EXPECT_THAT(saved_xml, Not(HasSubstr("torquescale=")));
EXPECT_THAT(saved_xml, Not(HasSubstr("polycoef=")));
// relpose is legitimately saved: the compiler resolves the zero-quat
// "compute current pose" sentinel into the actual relative pose
EXPECT_THAT(saved_xml, HasSubstr("relpose=\"0 0 0 1 0 0 0\""));
}
TEST_F(XMLWriterTest, WritesDefaultClassJointPosAxis) {
// pos and axis set in a default class used to be lost when saving
static constexpr char xml[] = R"(
<mujoco>
<default>
<joint pos="1 2 3" axis="0 1 0"/>
</default>
<worldbody>
<body name="b">
<joint name="j" type="hinge"/>
<geom size=".1"/>
</body>
</worldbody>
</mujoco>
)";
MjModelPtr model = LoadModelFromString(xml);
ASSERT_THAT(model.get(), NotNull());
std::string saved_xml = SaveAndReadXml(model.get());
EXPECT_THAT(saved_xml, HasSubstr("<joint pos=\"1 2 3\" axis=\"0 1 0\"/>"));
}
} // namespace
} // namespace mujoco