More schema-related cleanup.

- 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

doc/generate/generate_default_table.py

@@ -57,12 +57,14 @@ _HEADER = '''\
 // doc/generate/generate_default_table.py; test/doc/doc_test.py checks
 // freshness.
 //
-// One row per schema attribute with a declared default, binding the declared
+// One row per bound numeric schema attribute -- total coverage, whether or
-// values to the bound field. SchemaDefaultsTest compares every row against a
+// not a default is declared. SchemaDefaultsTest compares every row against a
-// freshly-constructed spec: the schema's defaults must agree with the C
+// freshly-constructed spec: declared values must match the C
-// default-constructors. Rows are {attr, offset, kind, len, ndecl, values};
+// default-constructors, values beyond ndecl must be zero, and rows marked
-// values beyond ndecl are expected to be zero; kind: 0=double 1=float 2=int
+// unset must hold the mjNAN sentinel. A nonzero constructor default with no
-// 3=byte 4=mjtNum.
+// schema declaration is therefore a test failure: the schema cannot silently
+// under-declare. Rows are {attr, offset, kind, len, ndecl, unset, values};
+// kind: 0=double 1=float 2=int 3=byte 4=mjtNum.
 
 // clang-format off
 struct mjXDefaultEntry {
@@ -71,6 +73,7 @@ struct mjXDefaultEntry {
   int kind;
   int len;
   int ndecl;
+  int unset;
   double value[8];
 };
 
@@ -95,8 +98,28 @@ def _values(schema, attr):
   return len(values), [repr(v) for v in values]
 
 
+# fields whose constructor default is the mjNAN "unset" sentinel, not a value;
+# the schema deliberately declares no default and the test asserts the NaN
+UNSET_SENTINELS = {
+    ('mjsBody', 'ipos'), ('mjsBody', 'fullinertia'),
+    ('mjsGeom', 'mass'), ('mjsGeom', 'fromto'),
+    ('mjsSite', 'fromto'),
+    ('mjStatistic', 'meaninertia'), ('mjStatistic', 'meanmass'),
+    ('mjStatistic', 'meansize'), ('mjStatistic', 'extent'),
+    ('mjStatistic', 'center'),
+}
+
+
 def collect(schema, structs):
-  """struct key -> list of row tuples, deduplicated across elements."""
+  """struct key -> list of row tuples, deduplicated across elements.
+
+  Emits a row for every bound numeric attribute. An attribute with a declared
+  default contributes its values; an undeclared one contributes an all-zero
+  expectation (or the unset flag for UNSET_SENTINELS), so the test enforces
+  that every nonzero constructor default is declared in the schema. A declared
+  row replaces an undeclared row for the same field; two declared rows must
+  agree.
+  """
   tables = {}
   seen = {}
   for element in schema.elements.values():
@@ -109,35 +132,51 @@ def collect(schema, structs):
       continue
     prefix = f'{sub}.' if sub else ''
     for attr in schema.expanded_attrs(element):
-      if attr.default is None or attr.type in ('string', 'file', 'chars',
+      if attr.type in ('string', 'file', 'chars', 'ref', 'id', 'flags'):
-                                               'ref', 'id', 'flags'):
         continue
       field = attr.facets.get('field', attr.name)
       entry = fields.get(field)
       if entry is None:
-        if 'reading' in attr.facets:
+        if 'reading' in attr.facets or attr.default is None:
           continue  # custom lowering with no direct binding
         raise ValueError(f'{element.name}.{attr.name}: no field '
                          f'{element.spec}.{field}')
       ctype, dim = entry
       if ctype not in KIND_BY_CTYPE and not ctype.startswith('mjt'):
+        if attr.default is None:
+          continue  # not a numeric field: nothing to compare
         raise ValueError(f'{element.name}.{attr.name}: default bound to '
                          f'field {field} ({ctype})')
+      if ctype.endswith('*'):
+        continue  # vector pointers have no in-place default
       kind = KIND_BY_CTYPE.get(ctype, 2)  # other mjt enums are int-sized
       length = dim if dim is not None else '1'
-      ndecl, values = _values(schema, attr)
+      unset = 1 if (key, field) in UNSET_SENTINELS else 0
+      if attr.default is None:
+        ndecl, values = 0, []
+      else:
+        if unset:
+          raise ValueError(f'{element.name}.{attr.name}: declared default '
+                           'on an unset-sentinel field')
+        ndecl, values = _values(schema, attr)
       if ndecl > 8:
         raise ValueError(f'{element.name}.{attr.name}: {ndecl} default '
                          'values exceed the row capacity')
       row = (attr.name, f'(int)offsetof({element.spec}, {prefix}{field})',
-             kind, str(length), ndecl, values)
+             kind, str(length), ndecl, unset, values)
       prior = seen.get((key, field))
       if prior is not None:
-        if prior != (ndecl, values):
+        prior_row, prior_declared = prior
+        declared = attr.default is not None
+        if declared and prior_declared and prior_row[4:] != row[4:]:
           raise ValueError(f'{element.name}.{attr.name}: conflicting '
                            f'defaults for {key}.{field}')
+        if not declared or prior_declared:
+          continue  # keep the existing (declared or equivalent) row
+        tables[key][tables[key].index(prior_row)] = row
+        seen[(key, field)] = (row, True)
         continue
-      seen[(key, field)] = (ndecl, values)
+      seen[(key, field)] = (row, attr.default is not None)
       tables.setdefault(key, []).append(row)
   return tables
 
@@ -152,9 +191,9 @@ def generate() -> str:
   for key in sorted(tables):
     array = 'kDefaults_' + key.replace('.', '_')
     out.append(f'static const mjXDefaultEntry {array}[] = {{')
-    for attr, offset, kind, length, ndecl, values in tables[key]:
+    for attr, offset, kind, length, ndecl, unset, values in tables[key]:
-      vals = ', '.join(values)
+      vals = ', '.join(values) if values else '0'
-      out.append(f'  {{"{attr}", {offset}, {kind}, {length}, {ndecl}, '
+      out.append(f'  {{"{attr}", {offset}, {kind}, {length}, {ndecl}, {unset}, '
                  f'{{{vals}}}}},')
     out.append('};')
     out.append('')

src/xml/generated/mjcf.xsd

@@ -625,6 +625,16 @@
     <xs:list itemType="xs:float"/>
   </xs:simpleType>
 
+  <xs:simpleType name="int1to3">
+    <xs:restriction>
+      <xs:simpleType>
+        <xs:list itemType="xs:int"/>
+      </xs:simpleType>
+      <xs:minLength value="1"/>
+      <xs:maxLength value="3"/>
+    </xs:restriction>
+  </xs:simpleType>
+
   <xs:simpleType name="int2">
     <xs:restriction>
       <xs:simpleType>
@@ -682,10 +692,10 @@
       <xs:element name="lengthrange" type="lengthrange"/>
       <xs:element name="include" type="include"/>
     </xs:choice>
-    <xs:attribute name="autolimits" type="kw_bool"/>
+    <xs:attribute name="autolimits" type="kw_bool" default="true"/>
     <xs:attribute name="boundmass" type="xs:double"/>
     <xs:attribute name="boundinertia" type="xs:double"/>
-    <xs:attribute name="settotalmass" type="xs:double"/>
+    <xs:attribute name="settotalmass" type="xs:double" default="-1"/>
     <xs:attribute name="balanceinertia" type="kw_bool"/>
     <xs:attribute name="strippath" type="kw_bool">
       <xs:annotation>
@@ -697,7 +707,7 @@
         <xs:documentation>deprecation error</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="angle" type="kw_angle"/>
+    <xs:attribute name="angle" type="kw_angle" default="degree"/>
     <xs:attribute name="fitaabb" type="kw_bool"/>
     <xs:attribute name="eulerseq">
       <xs:simpleType>
@@ -709,10 +719,10 @@
     <xs:attribute name="meshdir" type="xs:string"/>
     <xs:attribute name="texturedir" type="xs:string"/>
     <xs:attribute name="discardvisual" type="kw_bool"/>
-    <xs:attribute name="usethread" type="kw_bool"/>
+    <xs:attribute name="usethread" type="kw_bool" default="true"/>
     <xs:attribute name="fusestatic" type="kw_bool"/>
-    <xs:attribute name="inertiafromgeom" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="inertiafromgeom" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="inertiagrouprange" type="int2"/>
+    <xs:attribute name="inertiagrouprange" type="int2" default="0 5"/>
     <xs:attribute name="saveinertial" type="kw_bool"/>
     <xs:attribute name="assetdir" type="xs:string">
       <xs:annotation>
@@ -744,8 +754,8 @@
     <xs:attribute name="density" type="xs:double"/>
     <xs:attribute name="viscosity" type="xs:double"/>
     <xs:attribute name="o_margin" type="xs:double"/>
-    <xs:attribute name="o_solref" type="double1to2"/>
+    <xs:attribute name="o_solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="o_solimp" type="double1to5"/>
+    <xs:attribute name="o_solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
     <xs:attribute name="o_friction" type="double1to5" default="1 1 0.005 0.0001 0.0001"/>
     <xs:attribute name="integrator" type="kw_integrator" default="Euler"/>
     <xs:attribute name="cone" type="kw_cone" default="pyramidal"/>
@@ -774,17 +784,17 @@
         <xs:documentation>suffixed byte count</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="njmax" type="xs:int">
+    <xs:attribute name="njmax" type="xs:int" default="-1">
       <xs:annotation>
         <xs:documentation>range/exclusivity checks</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="nconmax" type="xs:int">
+    <xs:attribute name="nconmax" type="xs:int" default="-1">
       <xs:annotation>
         <xs:documentation>range check</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="nstack" type="xs:int">
+    <xs:attribute name="nstack" type="xs:int" default="-1">
       <xs:annotation>
         <xs:documentation>range/exclusivity checks</xs:documentation>
       </xs:annotation>
@@ -803,56 +813,56 @@
         </xs:restriction>
       </xs:simpleType>
     </xs:attribute>
-    <xs:attribute name="nuser_body">
+    <xs:attribute name="nuser_body" default="-1">
       <xs:simpleType>
         <xs:restriction base="xs:int">
           <xs:minInclusive value="-1"/>
         </xs:restriction>
       </xs:simpleType>
     </xs:attribute>
-    <xs:attribute name="nuser_jnt">
+    <xs:attribute name="nuser_jnt" default="-1">
       <xs:simpleType>
         <xs:restriction base="xs:int">
           <xs:minInclusive value="-1"/>
         </xs:restriction>
       </xs:simpleType>
     </xs:attribute>
-    <xs:attribute name="nuser_geom">
+    <xs:attribute name="nuser_geom" default="-1">
       <xs:simpleType>
         <xs:restriction base="xs:int">
           <xs:minInclusive value="-1"/>
         </xs:restriction>
       </xs:simpleType>
     </xs:attribute>
-    <xs:attribute name="nuser_site">
+    <xs:attribute name="nuser_site" default="-1">
       <xs:simpleType>
         <xs:restriction base="xs:int">
           <xs:minInclusive value="-1"/>
         </xs:restriction>
       </xs:simpleType>
     </xs:attribute>
-    <xs:attribute name="nuser_cam">
+    <xs:attribute name="nuser_cam" default="-1">
       <xs:simpleType>
         <xs:restriction base="xs:int">
           <xs:minInclusive value="-1"/>
         </xs:restriction>
       </xs:simpleType>
     </xs:attribute>
-    <xs:attribute name="nuser_tendon">
+    <xs:attribute name="nuser_tendon" default="-1">
       <xs:simpleType>
         <xs:restriction base="xs:int">
           <xs:minInclusive value="-1"/>
         </xs:restriction>
       </xs:simpleType>
     </xs:attribute>
-    <xs:attribute name="nuser_actuator">
+    <xs:attribute name="nuser_actuator" default="-1">
       <xs:simpleType>
         <xs:restriction base="xs:int">
           <xs:minInclusive value="-1"/>
         </xs:restriction>
       </xs:simpleType>
     </xs:attribute>
-    <xs:attribute name="nuser_sensor">
+    <xs:attribute name="nuser_sensor" default="-1">
       <xs:simpleType>
         <xs:restriction base="xs:int">
           <xs:minInclusive value="-1"/>
@@ -1123,16 +1133,16 @@
   </xs:complexType>
 
   <xs:complexType name="lengthrange">
-    <xs:attribute name="mode" type="kw_lrmode"/>
+    <xs:attribute name="mode" type="kw_lrmode" default="muscle"/>
-    <xs:attribute name="useexisting" type="kw_bool"/>
+    <xs:attribute name="useexisting" type="kw_bool" default="true"/>
     <xs:attribute name="uselimit" type="kw_bool"/>
-    <xs:attribute name="accel" type="xs:double"/>
+    <xs:attribute name="accel" type="xs:double" default="20"/>
     <xs:attribute name="maxforce" type="xs:double"/>
-    <xs:attribute name="timeconst" type="xs:double"/>
+    <xs:attribute name="timeconst" type="xs:double" default="1"/>
-    <xs:attribute name="timestep" type="xs:double"/>
+    <xs:attribute name="timestep" type="xs:double" default="0.01"/>
-    <xs:attribute name="inttotal" type="xs:double"/>
+    <xs:attribute name="inttotal" type="xs:double" default="10"/>
-    <xs:attribute name="interval" type="xs:double"/>
+    <xs:attribute name="interval" type="xs:double" default="2"/>
-    <xs:attribute name="tolrange" type="xs:double"/>
+    <xs:attribute name="tolrange" type="xs:double" default="0.05"/>
   </xs:complexType>
 
   <xs:complexType name="flag">
@@ -1244,31 +1254,31 @@
   </xs:complexType>
 
   <xs:complexType name="rgba">
-    <xs:attribute name="fog" type="float4"/>
+    <xs:attribute name="fog" type="float4" default="0 0 0 1"/>
-    <xs:attribute name="haze" type="float4"/>
+    <xs:attribute name="haze" type="float4" default="1 1 1 1"/>
-    <xs:attribute name="force" type="float4"/>
+    <xs:attribute name="force" type="float4" default="1 0.5 0.5 1"/>
-    <xs:attribute name="inertia" type="float4"/>
+    <xs:attribute name="inertia" type="float4" default="0.8 0.2 0.2 0.6"/>
-    <xs:attribute name="joint" type="float4"/>
+    <xs:attribute name="joint" type="float4" default="0.2 0.6 0.8 1"/>
-    <xs:attribute name="actuator" type="float4"/>
+    <xs:attribute name="actuator" type="float4" default="0.2 0.25 0.2 1"/>
-    <xs:attribute name="actuatornegative" type="float4"/>
+    <xs:attribute name="actuatornegative" type="float4" default="0.2 0.6 0.9 1"/>
-    <xs:attribute name="actuatorpositive" type="float4"/>
+    <xs:attribute name="actuatorpositive" type="float4" default="0.9 0.4 0.2 1"/>
-    <xs:attribute name="com" type="float4"/>
+    <xs:attribute name="com" type="float4" default="0.9 0.9 0.9 1"/>
-    <xs:attribute name="camera" type="float4"/>
+    <xs:attribute name="camera" type="float4" default="0.6 0.9 0.6 1"/>
-    <xs:attribute name="light" type="float4"/>
+    <xs:attribute name="light" type="float4" default="0.6 0.6 0.9 1"/>
-    <xs:attribute name="selectpoint" type="float4"/>
+    <xs:attribute name="selectpoint" type="float4" default="0.9 0.9 0.1 1"/>
-    <xs:attribute name="connect" type="float4"/>
+    <xs:attribute name="connect" type="float4" default="0.2 0.2 0.8 1"/>
-    <xs:attribute name="contactpoint" type="float4"/>
+    <xs:attribute name="contactpoint" type="float4" default="0.9 0.6 0.2 1"/>
-    <xs:attribute name="contactforce" type="float4"/>
+    <xs:attribute name="contactforce" type="float4" default="0.7 0.9 0.9 1"/>
-    <xs:attribute name="contactfriction" type="float4"/>
+    <xs:attribute name="contactfriction" type="float4" default="0.9 0.8 0.4 1"/>
-    <xs:attribute name="contacttorque" type="float4"/>
+    <xs:attribute name="contacttorque" type="float4" default="0.9 0.7 0.9 1"/>
-    <xs:attribute name="contactgap" type="float4"/>
+    <xs:attribute name="contactgap" type="float4" default="0.5 0.8 0.9 1"/>
-    <xs:attribute name="rangefinder" type="float4"/>
+    <xs:attribute name="rangefinder" type="float4" default="1 1 0.1 1"/>
-    <xs:attribute name="constraint" type="float4"/>
+    <xs:attribute name="constraint" type="float4" default="0.9 0 0 1"/>
-    <xs:attribute name="slidercrank" type="float4"/>
+    <xs:attribute name="slidercrank" type="float4" default="0.5 0.3 0.8 1"/>
-    <xs:attribute name="crankbroken" type="float4"/>
+    <xs:attribute name="crankbroken" type="float4" default="0.9 0 0 1"/>
-    <xs:attribute name="frustum" type="float4"/>
+    <xs:attribute name="frustum" type="float4" default="1 1 0 0.2"/>
-    <xs:attribute name="bv" type="float4"/>
+    <xs:attribute name="bv" type="float4" default="0 1 0 0.5"/>
-    <xs:attribute name="bvactive" type="float4"/>
+    <xs:attribute name="bvactive" type="float4" default="1 0 0 0.5"/>
   </xs:complexType>
 
   <xs:complexType name="default_mesh">
@@ -1320,20 +1330,20 @@
         <xs:documentation>compile directive: saved as stiffness/damping</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto">
+    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto">
       <xs:annotation>
         <xs:documentation>saved unless free</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto">
+    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto" default="auto">
       <xs:annotation>
         <xs:documentation>saved for slide/hinge</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
     <xs:attribute name="stiffness" type="double1to3">
       <xs:annotation>
         <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
@@ -1414,7 +1424,7 @@
     </xs:attribute>
     <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
     <xs:attribute name="fluidshape" type="kw_fluidshape"/>
-    <xs:attribute name="fluidcoef" type="double1to5"/>
+    <xs:attribute name="fluidcoef" type="double1to5" default="0.5 0.25 1.5 1 1"/>
     <xs:attribute name="user" type="doublelist"/>
   </xs:complexType>
 
@@ -1511,7 +1521,7 @@
 
   <xs:complexType name="default_tendon">
     <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="range" type="double2"/>
     <xs:attribute name="solreflimit" type="double1to2"/>
     <xs:attribute name="solimplimit" type="double1to5"/>
@@ -1522,9 +1532,9 @@
     <xs:attribute name="width" type="xs:double"/>
     <xs:attribute name="material" type="xs:string"/>
     <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="stiffness" type="xs:double"/>
+    <xs:attribute name="stiffness" type="double1to3"/>
-    <xs:attribute name="damping" type="xs:double"/>
+    <xs:attribute name="damping" type="double1to3"/>
-    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="rgba" type="float4"/>
     <xs:attribute name="user" type="doublelist"/>
   </xs:complexType>
 
@@ -1535,9 +1545,9 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="actrange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
@@ -1588,8 +1598,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
     <xs:attribute name="damping" type="double1to3">
@@ -1612,8 +1622,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="inheritrange" type="xs:double"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
@@ -1641,8 +1651,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
     <xs:attribute name="damping" type="double1to3">
@@ -1666,9 +1676,9 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="actrange" type="double2"/>
     <xs:attribute name="inheritrange" type="xs:double"/>
@@ -1696,7 +1706,7 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="kp" type="xs:double"/>
     <xs:attribute name="kv" type="xs:double"/>
@@ -1711,8 +1721,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="posrange" type="double2">
       <xs:annotation>
         <xs:documentation>alias: the position-setpoint range</xs:documentation>
@@ -1750,7 +1760,7 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
     <xs:attribute name="damping" type="double1to3">
@@ -1774,8 +1784,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
     <xs:attribute name="damping" type="double1to3">
@@ -1802,8 +1812,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
     <xs:attribute name="damping" type="double1to3">
@@ -1817,7 +1827,7 @@
         <xs:documentation>slidercrank-only, validated</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="timeconst" type="xs:double"/>
+    <xs:attribute name="timeconst" type="double2"/>
     <xs:attribute name="range" type="double2"/>
     <xs:attribute name="force" type="xs:double"/>
     <xs:attribute name="scale" type="xs:double"/>
@@ -1835,7 +1845,7 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="gain" type="xs:double"/>
   </xs:complexType>
@@ -1847,7 +1857,7 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
     <xs:attribute name="damping" type="double1to3">
       <xs:annotation>
@@ -2175,7 +2185,7 @@
     </xs:attribute>
     <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
     <xs:attribute name="fluidshape" type="kw_fluidshape"/>
-    <xs:attribute name="fluidcoef" type="double1to5"/>
+    <xs:attribute name="fluidcoef" type="double1to5" default="0.5 0.25 1.5 1 1"/>
     <xs:attribute name="user" type="doublelist"/>
   </xs:complexType>
 
@@ -2298,7 +2308,7 @@
     </xs:choice>
     <xs:attribute name="prefix" type="xs:string"/>
     <xs:attribute name="type" type="kw_comp" use="required"/>
-    <xs:attribute name="count" type="double1to3"/>
+    <xs:attribute name="count" type="int1to3"/>
     <xs:attribute name="offset" type="double3"/>
     <xs:attribute name="vertex" type="doublelist"/>
     <xs:attribute name="initial" type="xs:string"/>
@@ -2324,8 +2334,8 @@
     <xs:attribute name="group" type="xs:int"/>
     <xs:attribute name="dim" type="xs:int"/>
     <xs:attribute name="dof" type="kw_fdof"/>
-    <xs:attribute name="count" type="double3"/>
+    <xs:attribute name="count" type="int3"/>
-    <xs:attribute name="cellcount" type="double3"/>
+    <xs:attribute name="cellcount" type="int3"/>
     <xs:attribute name="spacing" type="double3"/>
     <xs:attribute name="radius" type="xs:double"/>
     <xs:attribute name="rigid" type="kw_bool"/>
@@ -2337,7 +2347,7 @@
     <xs:attribute name="element" type="doublelist"/>
     <xs:attribute name="texcoord" type="doublelist"/>
     <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="rgba" type="float4"/>
     <xs:attribute name="flatskin" type="kw_bool"/>
     <xs:attribute name="pos" type="double3"/>
     <xs:attribute name="quat" type="double4"/>
@@ -2360,10 +2370,10 @@
     </xs:choice>
     <xs:attribute name="name" type="xs:string"/>
     <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="dim" type="xs:int"/>
+    <xs:attribute name="dim" type="xs:int" default="2"/>
-    <xs:attribute name="radius" type="xs:double"/>
+    <xs:attribute name="radius" type="xs:double" default="0.005"/>
     <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="float4"/>
+    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
     <xs:attribute name="flatskin" type="kw_bool"/>
     <xs:attribute name="body" type="xs:string" use="required">
       <xs:annotation>
@@ -2379,9 +2389,9 @@
         <xs:documentation>space-separated body names</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="cellcount" type="int3">
+    <xs:attribute name="cellcount" type="int3" default="1 1 1">
       <xs:annotation>
-        <xs:documentation>seeded to {1,1,1} before reading</xs:documentation>
+        <xs:documentation>seeded before reading</xs:documentation>
       </xs:annotation>
     </xs:attribute>
     <xs:attribute name="dof" type="kw_fdof">
@@ -2425,14 +2435,14 @@
     <xs:attribute name="name" type="xs:string"/>
     <xs:attribute name="class" type="xs:string"/>
     <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto"/>
     <xs:attribute name="range" type="double2"/>
     <xs:attribute name="actuatorfrcrange" type="double2"/>
-    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
     <xs:attribute name="frictionloss" type="xs:double"/>
     <xs:attribute name="springlength" type="double1to2" default="-1 -1">
       <xs:annotation>
@@ -2468,14 +2478,14 @@
     <xs:attribute name="name" type="xs:string"/>
     <xs:attribute name="class" type="xs:string"/>
     <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto"/>
     <xs:attribute name="range" type="double2"/>
     <xs:attribute name="actuatorfrcrange" type="double2"/>
-    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
     <xs:attribute name="frictionloss" type="xs:double"/>
     <xs:attribute name="springlength" type="double1to2" default="-1 -1">
       <xs:annotation>
@@ -2594,9 +2604,9 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="actrange" type="double2"/>
     <xs:attribute name="lengthrange" type="double2"/>
@@ -2662,8 +2672,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="lengthrange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
@@ -2696,8 +2706,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="inheritrange" type="xs:double"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="lengthrange" type="double2"/>
@@ -2735,8 +2745,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="lengthrange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
@@ -2770,9 +2780,9 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="actrange" type="double2"/>
     <xs:attribute name="inheritrange" type="xs:double"/>
@@ -2810,7 +2820,7 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="joint" type="xs:string"/>
     <xs:attribute name="site" type="xs:string"/>
@@ -2830,8 +2840,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="posrange" type="double2">
       <xs:annotation>
         <xs:documentation>alias: the position-setpoint range</xs:documentation>
@@ -2879,7 +2889,7 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="lengthrange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
@@ -2913,8 +2923,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="lengthrange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
@@ -2951,8 +2961,8 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="lengthrange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
@@ -2972,7 +2982,7 @@
     <xs:attribute name="tendon" type="xs:string"/>
     <xs:attribute name="slidersite" type="xs:string"/>
     <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="timeconst" type="xs:double"/>
+    <xs:attribute name="timeconst" type="double2"/>
     <xs:attribute name="tausmooth" type="xs:double"/>
     <xs:attribute name="range" type="double2"/>
     <xs:attribute name="force" type="xs:double"/>
@@ -2993,7 +3003,7 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="body" type="xs:string"/>
     <xs:attribute name="gain" type="xs:double"/>
@@ -3008,7 +3018,7 @@
     <xs:attribute name="delay" type="xs:double"/>
     <xs:attribute name="ctrlrange" type="double2"/>
     <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="lengthrange" type="double2"/>
     <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
     <xs:attribute name="damping" type="double1to3">
@@ -3059,9 +3069,9 @@
     <xs:attribute name="user" type="doublelist"/>
     <xs:attribute name="plugin" type="xs:string"/>
     <xs:attribute name="instance" type="xs:string"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="forcerange" type="double2"/>
     <xs:attribute name="actrange" type="double2"/>
     <xs:attribute name="lengthrange" type="double2"/>
@@ -3845,8 +3855,8 @@
     <xs:attribute name="body" type="xs:string" use="required"/>
     <xs:attribute name="bindpos" type="double3"/>
     <xs:attribute name="bindquat" type="double4"/>
-    <xs:attribute name="vertid" type="doublelist"/>
+    <xs:attribute name="vertid" type="intlist"/>
-    <xs:attribute name="vertweight" type="doublelist"/>
+    <xs:attribute name="vertweight" type="floatlist"/>
   </xs:complexType>
 
   <xs:complexType name="layer">
@@ -3860,7 +3870,7 @@
       <xs:documentation>constraint: at most one of: fullinertia, quat, axisangle, xyaxes, zaxis, euler</xs:documentation>
     </xs:annotation>
     <xs:attribute name="pos" type="double3" use="required"/>
-    <xs:attribute name="quat" type="double4"/>
+    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
     <xs:attribute name="mass" type="xs:double" use="required"/>
     <xs:attribute name="diaginertia" type="double3"/>
     <xs:attribute name="axisangle" type="double4"/>
@@ -3890,20 +3900,20 @@
         <xs:documentation>compile directive: saved as stiffness/damping</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto">
+    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto">
       <xs:annotation>
         <xs:documentation>saved unless free</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto">
+    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto" default="auto">
       <xs:annotation>
         <xs:documentation>saved for slide/hinge</xs:documentation>
       </xs:annotation>
     </xs:attribute>
-    <xs:attribute name="solreflimit" type="double1to2"/>
+    <xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimplimit" type="double1to5"/>
+    <xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="solreffriction" type="double1to2"/>
+    <xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimpfriction" type="double1to5"/>
+    <xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
     <xs:attribute name="stiffness" type="double1to3">
       <xs:annotation>
         <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
@@ -3946,7 +3956,7 @@
     <xs:attribute name="solimpfix" type="double1to5"/>
     <xs:attribute name="type" type="kw_jointtype"/>
     <xs:attribute name="axis" type="double3"/>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto"/>
+    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto"/>
     <xs:attribute name="range" type="double2"/>
     <xs:attribute name="margin" type="xs:double"/>
     <xs:attribute name="solreflimit" type="double1to2"/>
@@ -3960,7 +3970,7 @@
     <xs:attribute name="texcoord" type="kw_bool"/>
     <xs:attribute name="material" type="xs:string"/>
     <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="rgba" type="float4"/>
     <xs:attribute name="inflate" type="xs:double"/>
     <xs:attribute name="subgrid" type="xs:int"/>
   </xs:complexType>
@@ -3974,7 +3984,7 @@
     <xs:attribute name="priority" type="xs:int"/>
     <xs:attribute name="size" type="double1to3"/>
     <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="rgba" type="float4"/>
     <xs:attribute name="friction" type="double1to3"/>
     <xs:attribute name="mass" type="xs:double"/>
     <xs:attribute name="density" type="xs:double"/>
@@ -3991,7 +4001,7 @@
     <xs:attribute name="group" type="xs:int"/>
     <xs:attribute name="size" type="double1to3"/>
     <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="double4"/>
+    <xs:attribute name="rgba" type="float4"/>
   </xs:complexType>
 
   <xs:complexType name="flexcomp_edge">
@@ -4006,24 +4016,24 @@
     <xs:attribute name="young" type="xs:double"/>
     <xs:attribute name="poisson" type="xs:double"/>
     <xs:attribute name="damping" type="xs:double"/>
-    <xs:attribute name="thickness" type="xs:double"/>
+    <xs:attribute name="thickness" type="xs:double" default="-1"/>
     <xs:attribute name="elastic2d" type="kw_elastic2d"/>
   </xs:complexType>
 
   <xs:complexType name="flexcomp_contact">
-    <xs:attribute name="contype" type="xs:int"/>
+    <xs:attribute name="contype" type="xs:int" default="1"/>
-    <xs:attribute name="conaffinity" type="xs:int"/>
+    <xs:attribute name="conaffinity" type="xs:int" default="1"/>
-    <xs:attribute name="condim" type="xs:int"/>
+    <xs:attribute name="condim" type="xs:int" default="3"/>
     <xs:attribute name="priority" type="xs:int"/>
-    <xs:attribute name="friction" type="double1to3"/>
+    <xs:attribute name="friction" type="double1to3" default="1 0.005 0.0001"/>
-    <xs:attribute name="solmix" type="xs:double"/>
+    <xs:attribute name="solmix" type="xs:double" default="1"/>
-    <xs:attribute name="solref" type="double1to2"/>
+    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5"/>
+    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
     <xs:attribute name="margin" type="xs:double"/>
     <xs:attribute name="gap" type="xs:double"/>
     <xs:attribute name="internal" type="kw_bool"/>
-    <xs:attribute name="selfcollide" type="kw_flexself"/>
+    <xs:attribute name="selfcollide" type="kw_flexself" default="auto"/>
-    <xs:attribute name="activelayers" type="xs:int"/>
+    <xs:attribute name="activelayers" type="xs:int" default="1"/>
     <xs:attribute name="passive" type="kw_bool"/>
   </xs:complexType>
 

src/xml/generated/mjcf_default_table.inc

@@ -16,12 +16,14 @@
 // doc/generate/generate_default_table.py; test/doc/doc_test.py checks
 // freshness.
 //
-// One row per schema attribute with a declared default, binding the declared
+// One row per bound numeric schema attribute -- total coverage, whether or
-// values to the bound field. SchemaDefaultsTest compares every row against a
+// not a default is declared. SchemaDefaultsTest compares every row against a
-// freshly-constructed spec: the schema's defaults must agree with the C
+// freshly-constructed spec: declared values must match the C
-// default-constructors. Rows are {attr, offset, kind, len, ndecl, values};
+// default-constructors, values beyond ndecl must be zero, and rows marked
-// values beyond ndecl are expected to be zero; kind: 0=double 1=float 2=int
+// unset must hold the mjNAN sentinel. A nonzero constructor default with no
-// 3=byte 4=mjtNum.
+// schema declaration is therefore a test failure: the schema cannot silently
+// under-declare. Rows are {attr, offset, kind, len, ndecl, unset, values};
+// kind: 0=double 1=float 2=int 3=byte 4=mjtNum.
 
 // clang-format off
 struct mjXDefaultEntry {
@@ -30,6 +32,7 @@ struct mjXDefaultEntry {
   int kind;
   int len;
   int ndecl;
+  int unset;
   double value[8];
 };
 
@@ -40,240 +43,493 @@ struct mjXDefaultTable {
 };
 
 
+static const mjXDefaultEntry kDefaults_mjLROpt[] = {
+  {"mode", (int)offsetof(mjLROpt, mode), 2, 1, 1, 0, {(double)mjLRMODE_MUSCLE}},
+  {"useexisting", (int)offsetof(mjLROpt, useexisting), 2, 1, 1, 0, {1}},
+  {"uselimit", (int)offsetof(mjLROpt, uselimit), 2, 1, 0, 0, {0}},
+  {"accel", (int)offsetof(mjLROpt, accel), 4, 1, 1, 0, {20.0}},
+  {"maxforce", (int)offsetof(mjLROpt, maxforce), 4, 1, 0, 0, {0}},
+  {"timeconst", (int)offsetof(mjLROpt, timeconst), 4, 1, 1, 0, {1.0}},
+  {"timestep", (int)offsetof(mjLROpt, timestep), 4, 1, 1, 0, {0.01}},
+  {"inttotal", (int)offsetof(mjLROpt, inttotal), 4, 1, 1, 0, {10.0}},
+  {"interval", (int)offsetof(mjLROpt, interval), 4, 1, 1, 0, {2.0}},
+  {"tolrange", (int)offsetof(mjLROpt, tolrange), 4, 1, 1, 0, {0.05}},
+};
+
 static const mjXDefaultEntry kDefaults_mjOption[] = {
-  {"timestep", (int)offsetof(mjOption, timestep), 4, 1, 1, {0.002}},
+  {"timestep", (int)offsetof(mjOption, timestep), 4, 1, 1, 0, {0.002}},
-  {"impratio", (int)offsetof(mjOption, impratio), 4, 1, 1, {1.0}},
+  {"impratio", (int)offsetof(mjOption, impratio), 4, 1, 1, 0, {1.0}},
-  {"tolerance", (int)offsetof(mjOption, tolerance), 4, 1, 1, {1e-08}},
+  {"tolerance", (int)offsetof(mjOption, tolerance), 4, 1, 1, 0, {1e-08}},
-  {"ls_tolerance", (int)offsetof(mjOption, ls_tolerance), 4, 1, 1, {0.01}},
+  {"ls_tolerance", (int)offsetof(mjOption, ls_tolerance), 4, 1, 1, 0, {0.01}},
-  {"noslip_tolerance", (int)offsetof(mjOption, noslip_tolerance), 4, 1, 1, {1e-06}},
+  {"noslip_tolerance", (int)offsetof(mjOption, noslip_tolerance), 4, 1, 1, 0, {1e-06}},
-  {"ccd_tolerance", (int)offsetof(mjOption, ccd_tolerance), 4, 1, 1, {1e-06}},
+  {"ccd_tolerance", (int)offsetof(mjOption, ccd_tolerance), 4, 1, 1, 0, {1e-06}},
-  {"sleep_tolerance", (int)offsetof(mjOption, sleep_tolerance), 4, 1, 1, {0.001}},
+  {"sleep_tolerance", (int)offsetof(mjOption, sleep_tolerance), 4, 1, 1, 0, {0.001}},
-  {"gravity", (int)offsetof(mjOption, gravity), 4, 3, 3, {0.0, 0.0, -9.81}},
+  {"gravity", (int)offsetof(mjOption, gravity), 4, 3, 3, 0, {0.0, 0.0, -9.81}},
-  {"wind", (int)offsetof(mjOption, wind), 4, 3, 3, {0.0, 0.0, 0.0}},
+  {"wind", (int)offsetof(mjOption, wind), 4, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"magnetic", (int)offsetof(mjOption, magnetic), 4, 3, 3, {0.0, -0.5, 0.0}},
+  {"magnetic", (int)offsetof(mjOption, magnetic), 4, 3, 3, 0, {0.0, -0.5, 0.0}},
-  {"o_friction", (int)offsetof(mjOption, o_friction), 4, 5, 5, {1.0, 1.0, 0.005, 0.0001, 0.0001}},
+  {"density", (int)offsetof(mjOption, density), 4, 1, 0, 0, {0}},
-  {"integrator", (int)offsetof(mjOption, integrator), 2, 1, 1, {(double)mjINT_EULER}},
+  {"viscosity", (int)offsetof(mjOption, viscosity), 4, 1, 0, 0, {0}},
-  {"cone", (int)offsetof(mjOption, cone), 2, 1, 1, {(double)mjCONE_PYRAMIDAL}},
+  {"o_margin", (int)offsetof(mjOption, o_margin), 4, 1, 0, 0, {0}},
-  {"jacobian", (int)offsetof(mjOption, jacobian), 2, 1, 1, {(double)mjJAC_AUTO}},
+  {"o_solref", (int)offsetof(mjOption, o_solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solver", (int)offsetof(mjOption, solver), 2, 1, 1, {(double)mjSOL_NEWTON}},
+  {"o_solimp", (int)offsetof(mjOption, o_solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"iterations", (int)offsetof(mjOption, iterations), 2, 1, 1, {100.0}},
+  {"o_friction", (int)offsetof(mjOption, o_friction), 4, 5, 5, 0, {1.0, 1.0, 0.005, 0.0001, 0.0001}},
-  {"ls_iterations", (int)offsetof(mjOption, ls_iterations), 2, 1, 1, {50.0}},
+  {"integrator", (int)offsetof(mjOption, integrator), 2, 1, 1, 0, {(double)mjINT_EULER}},
-  {"ccd_iterations", (int)offsetof(mjOption, ccd_iterations), 2, 1, 1, {35.0}},
+  {"cone", (int)offsetof(mjOption, cone), 2, 1, 1, 0, {(double)mjCONE_PYRAMIDAL}},
-  {"sdf_iterations", (int)offsetof(mjOption, sdf_iterations), 2, 1, 1, {10.0}},
+  {"jacobian", (int)offsetof(mjOption, jacobian), 2, 1, 1, 0, {(double)mjJAC_AUTO}},
-  {"sdf_initpoints", (int)offsetof(mjOption, sdf_initpoints), 2, 1, 1, {40.0}},
+  {"solver", (int)offsetof(mjOption, solver), 2, 1, 1, 0, {(double)mjSOL_NEWTON}},
+  {"iterations", (int)offsetof(mjOption, iterations), 2, 1, 1, 0, {100.0}},
+  {"ls_iterations", (int)offsetof(mjOption, ls_iterations), 2, 1, 1, 0, {50.0}},
+  {"noslip_iterations", (int)offsetof(mjOption, noslip_iterations), 2, 1, 0, 0, {0}},
+  {"ccd_iterations", (int)offsetof(mjOption, ccd_iterations), 2, 1, 1, 0, {35.0}},
+  {"sdf_iterations", (int)offsetof(mjOption, sdf_iterations), 2, 1, 1, 0, {10.0}},
+  {"sdf_initpoints", (int)offsetof(mjOption, sdf_initpoints), 2, 1, 1, 0, {40.0}},
+};
+
+static const mjXDefaultEntry kDefaults_mjSpec[] = {
+  {"njmax", (int)offsetof(mjSpec, njmax), 2, 1, 1, 0, {-1.0}},
+  {"nconmax", (int)offsetof(mjSpec, nconmax), 2, 1, 1, 0, {-1.0}},
+  {"nstack", (int)offsetof(mjSpec, nstack), 2, 1, 1, 0, {-1.0}},
+  {"nuserdata", (int)offsetof(mjSpec, nuserdata), 2, 1, 0, 0, {0}},
+  {"nkey", (int)offsetof(mjSpec, nkey), 2, 1, 0, 0, {0}},
+  {"nuser_body", (int)offsetof(mjSpec, nuser_body), 2, 1, 1, 0, {-1.0}},
+  {"nuser_jnt", (int)offsetof(mjSpec, nuser_jnt), 2, 1, 1, 0, {-1.0}},
+  {"nuser_geom", (int)offsetof(mjSpec, nuser_geom), 2, 1, 1, 0, {-1.0}},
+  {"nuser_site", (int)offsetof(mjSpec, nuser_site), 2, 1, 1, 0, {-1.0}},
+  {"nuser_cam", (int)offsetof(mjSpec, nuser_cam), 2, 1, 1, 0, {-1.0}},
+  {"nuser_tendon", (int)offsetof(mjSpec, nuser_tendon), 2, 1, 1, 0, {-1.0}},
+  {"nuser_actuator", (int)offsetof(mjSpec, nuser_actuator), 2, 1, 1, 0, {-1.0}},
+  {"nuser_sensor", (int)offsetof(mjSpec, nuser_sensor), 2, 1, 1, 0, {-1.0}},
+};
+
+static const mjXDefaultEntry kDefaults_mjStatistic[] = {
+  {"meaninertia", (int)offsetof(mjStatistic, meaninertia), 4, 1, 0, 1, {0}},
+  {"meanmass", (int)offsetof(mjStatistic, meanmass), 4, 1, 0, 1, {0}},
+  {"meansize", (int)offsetof(mjStatistic, meansize), 4, 1, 0, 1, {0}},
+  {"extent", (int)offsetof(mjStatistic, extent), 4, 1, 0, 1, {0}},
+  {"center", (int)offsetof(mjStatistic, center), 4, 3, 0, 1, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjVisual_global[] = {
-  {"cameraid", (int)offsetof(mjVisual, global.cameraid), 2, 1, 1, {-1.0}},
+  {"cameraid", (int)offsetof(mjVisual, global.cameraid), 2, 1, 1, 0, {-1.0}},
-  {"orthographic", (int)offsetof(mjVisual, global.orthographic), 2, 1, 1, {0}},
+  {"orthographic", (int)offsetof(mjVisual, global.orthographic), 2, 1, 1, 0, {0}},
-  {"fovy", (int)offsetof(mjVisual, global.fovy), 1, 1, 1, {45.0}},
+  {"fovy", (int)offsetof(mjVisual, global.fovy), 1, 1, 1, 0, {45.0}},
-  {"ipd", (int)offsetof(mjVisual, global.ipd), 1, 1, 1, {0.068}},
+  {"ipd", (int)offsetof(mjVisual, global.ipd), 1, 1, 1, 0, {0.068}},
-  {"azimuth", (int)offsetof(mjVisual, global.azimuth), 1, 1, 1, {90.0}},
+  {"azimuth", (int)offsetof(mjVisual, global.azimuth), 1, 1, 1, 0, {90.0}},
-  {"elevation", (int)offsetof(mjVisual, global.elevation), 1, 1, 1, {-45.0}},
+  {"elevation", (int)offsetof(mjVisual, global.elevation), 1, 1, 1, 0, {-45.0}},
-  {"linewidth", (int)offsetof(mjVisual, global.linewidth), 1, 1, 1, {1.0}},
+  {"linewidth", (int)offsetof(mjVisual, global.linewidth), 1, 1, 1, 0, {1.0}},
-  {"glow", (int)offsetof(mjVisual, global.glow), 1, 1, 1, {0.3}},
+  {"glow", (int)offsetof(mjVisual, global.glow), 1, 1, 1, 0, {0.3}},
-  {"offwidth", (int)offsetof(mjVisual, global.offwidth), 2, 1, 1, {640.0}},
+  {"offwidth", (int)offsetof(mjVisual, global.offwidth), 2, 1, 1, 0, {640.0}},
-  {"offheight", (int)offsetof(mjVisual, global.offheight), 2, 1, 1, {480.0}},
+  {"offheight", (int)offsetof(mjVisual, global.offheight), 2, 1, 1, 0, {480.0}},
-  {"realtime", (int)offsetof(mjVisual, global.realtime), 1, 1, 1, {1.0}},
+  {"realtime", (int)offsetof(mjVisual, global.realtime), 1, 1, 1, 0, {1.0}},
-  {"ellipsoidinertia", (int)offsetof(mjVisual, global.ellipsoidinertia), 2, 1, 1, {0}},
+  {"ellipsoidinertia", (int)offsetof(mjVisual, global.ellipsoidinertia), 2, 1, 1, 0, {0}},
-  {"bvactive", (int)offsetof(mjVisual, global.bvactive), 2, 1, 1, {1}},
+  {"bvactive", (int)offsetof(mjVisual, global.bvactive), 2, 1, 1, 0, {1}},
 };
 
 static const mjXDefaultEntry kDefaults_mjVisual_headlight[] = {
-  {"ambient", (int)offsetof(mjVisual, headlight.ambient), 1, 3, 3, {0.1, 0.1, 0.1}},
+  {"ambient", (int)offsetof(mjVisual, headlight.ambient), 1, 3, 3, 0, {0.1, 0.1, 0.1}},
-  {"diffuse", (int)offsetof(mjVisual, headlight.diffuse), 1, 3, 3, {0.4, 0.4, 0.4}},
+  {"diffuse", (int)offsetof(mjVisual, headlight.diffuse), 1, 3, 3, 0, {0.4, 0.4, 0.4}},
-  {"specular", (int)offsetof(mjVisual, headlight.specular), 1, 3, 3, {0.5, 0.5, 0.5}},
+  {"specular", (int)offsetof(mjVisual, headlight.specular), 1, 3, 3, 0, {0.5, 0.5, 0.5}},
-  {"active", (int)offsetof(mjVisual, headlight.active), 2, 1, 1, {1.0}},
+  {"active", (int)offsetof(mjVisual, headlight.active), 2, 1, 1, 0, {1.0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjVisual_map[] = {
-  {"stiffness", (int)offsetof(mjVisual, map.stiffness), 1, 1, 1, {100.0}},
+  {"stiffness", (int)offsetof(mjVisual, map.stiffness), 1, 1, 1, 0, {100.0}},
-  {"stiffnessrot", (int)offsetof(mjVisual, map.stiffnessrot), 1, 1, 1, {500.0}},
+  {"stiffnessrot", (int)offsetof(mjVisual, map.stiffnessrot), 1, 1, 1, 0, {500.0}},
-  {"force", (int)offsetof(mjVisual, map.force), 1, 1, 1, {0.005}},
+  {"force", (int)offsetof(mjVisual, map.force), 1, 1, 1, 0, {0.005}},
-  {"torque", (int)offsetof(mjVisual, map.torque), 1, 1, 1, {0.1}},
+  {"torque", (int)offsetof(mjVisual, map.torque), 1, 1, 1, 0, {0.1}},
-  {"alpha", (int)offsetof(mjVisual, map.alpha), 1, 1, 1, {0.3}},
+  {"alpha", (int)offsetof(mjVisual, map.alpha), 1, 1, 1, 0, {0.3}},
-  {"fogstart", (int)offsetof(mjVisual, map.fogstart), 1, 1, 1, {3.0}},
+  {"fogstart", (int)offsetof(mjVisual, map.fogstart), 1, 1, 1, 0, {3.0}},
-  {"fogend", (int)offsetof(mjVisual, map.fogend), 1, 1, 1, {10.0}},
+  {"fogend", (int)offsetof(mjVisual, map.fogend), 1, 1, 1, 0, {10.0}},
-  {"znear", (int)offsetof(mjVisual, map.znear), 1, 1, 1, {0.01}},
+  {"znear", (int)offsetof(mjVisual, map.znear), 1, 1, 1, 0, {0.01}},
-  {"zfar", (int)offsetof(mjVisual, map.zfar), 1, 1, 1, {50.0}},
+  {"zfar", (int)offsetof(mjVisual, map.zfar), 1, 1, 1, 0, {50.0}},
-  {"haze", (int)offsetof(mjVisual, map.haze), 1, 1, 1, {0.3}},
+  {"haze", (int)offsetof(mjVisual, map.haze), 1, 1, 1, 0, {0.3}},
-  {"shadowclip", (int)offsetof(mjVisual, map.shadowclip), 1, 1, 1, {1.0}},
+  {"shadowclip", (int)offsetof(mjVisual, map.shadowclip), 1, 1, 1, 0, {1.0}},
-  {"shadowscale", (int)offsetof(mjVisual, map.shadowscale), 1, 1, 1, {0.6}},
+  {"shadowscale", (int)offsetof(mjVisual, map.shadowscale), 1, 1, 1, 0, {0.6}},
-  {"actuatortendon", (int)offsetof(mjVisual, map.actuatortendon), 1, 1, 1, {2.0}},
+  {"actuatortendon", (int)offsetof(mjVisual, map.actuatortendon), 1, 1, 1, 0, {2.0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjVisual_quality[] = {
-  {"shadowsize", (int)offsetof(mjVisual, quality.shadowsize), 2, 1, 1, {4096.0}},
+  {"shadowsize", (int)offsetof(mjVisual, quality.shadowsize), 2, 1, 1, 0, {4096.0}},
-  {"offsamples", (int)offsetof(mjVisual, quality.offsamples), 2, 1, 1, {4.0}},
+  {"offsamples", (int)offsetof(mjVisual, quality.offsamples), 2, 1, 1, 0, {4.0}},
-  {"numslices", (int)offsetof(mjVisual, quality.numslices), 2, 1, 1, {28.0}},
+  {"numslices", (int)offsetof(mjVisual, quality.numslices), 2, 1, 1, 0, {28.0}},
-  {"numstacks", (int)offsetof(mjVisual, quality.numstacks), 2, 1, 1, {16.0}},
+  {"numstacks", (int)offsetof(mjVisual, quality.numstacks), 2, 1, 1, 0, {16.0}},
-  {"numquads", (int)offsetof(mjVisual, quality.numquads), 2, 1, 1, {4.0}},
+  {"numquads", (int)offsetof(mjVisual, quality.numquads), 2, 1, 1, 0, {4.0}},
+};
+
+static const mjXDefaultEntry kDefaults_mjVisual_rgba[] = {
+  {"fog", (int)offsetof(mjVisual, rgba.fog), 1, 4, 4, 0, {0.0, 0.0, 0.0, 1.0}},
+  {"haze", (int)offsetof(mjVisual, rgba.haze), 1, 4, 4, 0, {1.0, 1.0, 1.0, 1.0}},
+  {"force", (int)offsetof(mjVisual, rgba.force), 1, 4, 4, 0, {1.0, 0.5, 0.5, 1.0}},
+  {"inertia", (int)offsetof(mjVisual, rgba.inertia), 1, 4, 4, 0, {0.8, 0.2, 0.2, 0.6}},
+  {"joint", (int)offsetof(mjVisual, rgba.joint), 1, 4, 4, 0, {0.2, 0.6, 0.8, 1.0}},
+  {"actuator", (int)offsetof(mjVisual, rgba.actuator), 1, 4, 4, 0, {0.2, 0.25, 0.2, 1.0}},
+  {"actuatornegative", (int)offsetof(mjVisual, rgba.actuatornegative), 1, 4, 4, 0, {0.2, 0.6, 0.9, 1.0}},
+  {"actuatorpositive", (int)offsetof(mjVisual, rgba.actuatorpositive), 1, 4, 4, 0, {0.9, 0.4, 0.2, 1.0}},
+  {"com", (int)offsetof(mjVisual, rgba.com), 1, 4, 4, 0, {0.9, 0.9, 0.9, 1.0}},
+  {"camera", (int)offsetof(mjVisual, rgba.camera), 1, 4, 4, 0, {0.6, 0.9, 0.6, 1.0}},
+  {"light", (int)offsetof(mjVisual, rgba.light), 1, 4, 4, 0, {0.6, 0.6, 0.9, 1.0}},
+  {"selectpoint", (int)offsetof(mjVisual, rgba.selectpoint), 1, 4, 4, 0, {0.9, 0.9, 0.1, 1.0}},
+  {"connect", (int)offsetof(mjVisual, rgba.connect), 1, 4, 4, 0, {0.2, 0.2, 0.8, 1.0}},
+  {"contactpoint", (int)offsetof(mjVisual, rgba.contactpoint), 1, 4, 4, 0, {0.9, 0.6, 0.2, 1.0}},
+  {"contactforce", (int)offsetof(mjVisual, rgba.contactforce), 1, 4, 4, 0, {0.7, 0.9, 0.9, 1.0}},
+  {"contactfriction", (int)offsetof(mjVisual, rgba.contactfriction), 1, 4, 4, 0, {0.9, 0.8, 0.4, 1.0}},
+  {"contacttorque", (int)offsetof(mjVisual, rgba.contacttorque), 1, 4, 4, 0, {0.9, 0.7, 0.9, 1.0}},
+  {"contactgap", (int)offsetof(mjVisual, rgba.contactgap), 1, 4, 4, 0, {0.5, 0.8, 0.9, 1.0}},
+  {"rangefinder", (int)offsetof(mjVisual, rgba.rangefinder), 1, 4, 4, 0, {1.0, 1.0, 0.1, 1.0}},
+  {"constraint", (int)offsetof(mjVisual, rgba.constraint), 1, 4, 4, 0, {0.9, 0.0, 0.0, 1.0}},
+  {"slidercrank", (int)offsetof(mjVisual, rgba.slidercrank), 1, 4, 4, 0, {0.5, 0.3, 0.8, 1.0}},
+  {"crankbroken", (int)offsetof(mjVisual, rgba.crankbroken), 1, 4, 4, 0, {0.9, 0.0, 0.0, 1.0}},
+  {"frustum", (int)offsetof(mjVisual, rgba.frustum), 1, 4, 4, 0, {1.0, 1.0, 0.0, 0.2}},
+  {"bv", (int)offsetof(mjVisual, rgba.bv), 1, 4, 4, 0, {0.0, 1.0, 0.0, 0.5}},
+  {"bvactive", (int)offsetof(mjVisual, rgba.bvactive), 1, 4, 4, 0, {1.0, 0.0, 0.0, 0.5}},
 };
 
 static const mjXDefaultEntry kDefaults_mjVisual_scale[] = {
-  {"forcewidth", (int)offsetof(mjVisual, scale.forcewidth), 1, 1, 1, {0.1}},
+  {"forcewidth", (int)offsetof(mjVisual, scale.forcewidth), 1, 1, 1, 0, {0.1}},
-  {"contactwidth", (int)offsetof(mjVisual, scale.contactwidth), 1, 1, 1, {0.3}},
+  {"contactwidth", (int)offsetof(mjVisual, scale.contactwidth), 1, 1, 1, 0, {0.3}},
-  {"contactheight", (int)offsetof(mjVisual, scale.contactheight), 1, 1, 1, {0.1}},
+  {"contactheight", (int)offsetof(mjVisual, scale.contactheight), 1, 1, 1, 0, {0.1}},
-  {"connect", (int)offsetof(mjVisual, scale.connect), 1, 1, 1, {0.2}},
+  {"connect", (int)offsetof(mjVisual, scale.connect), 1, 1, 1, 0, {0.2}},
-  {"com", (int)offsetof(mjVisual, scale.com), 1, 1, 1, {0.4}},
+  {"com", (int)offsetof(mjVisual, scale.com), 1, 1, 1, 0, {0.4}},
-  {"camera", (int)offsetof(mjVisual, scale.camera), 1, 1, 1, {0.3}},
+  {"camera", (int)offsetof(mjVisual, scale.camera), 1, 1, 1, 0, {0.3}},
-  {"light", (int)offsetof(mjVisual, scale.light), 1, 1, 1, {0.3}},
+  {"light", (int)offsetof(mjVisual, scale.light), 1, 1, 1, 0, {0.3}},
-  {"selectpoint", (int)offsetof(mjVisual, scale.selectpoint), 1, 1, 1, {0.2}},
+  {"selectpoint", (int)offsetof(mjVisual, scale.selectpoint), 1, 1, 1, 0, {0.2}},
-  {"jointlength", (int)offsetof(mjVisual, scale.jointlength), 1, 1, 1, {1.0}},
+  {"jointlength", (int)offsetof(mjVisual, scale.jointlength), 1, 1, 1, 0, {1.0}},
-  {"jointwidth", (int)offsetof(mjVisual, scale.jointwidth), 1, 1, 1, {0.1}},
+  {"jointwidth", (int)offsetof(mjVisual, scale.jointwidth), 1, 1, 1, 0, {0.1}},
-  {"actuatorlength", (int)offsetof(mjVisual, scale.actuatorlength), 1, 1, 1, {0.7}},
+  {"actuatorlength", (int)offsetof(mjVisual, scale.actuatorlength), 1, 1, 1, 0, {0.7}},
-  {"actuatorwidth", (int)offsetof(mjVisual, scale.actuatorwidth), 1, 1, 1, {0.2}},
+  {"actuatorwidth", (int)offsetof(mjVisual, scale.actuatorwidth), 1, 1, 1, 0, {0.2}},
-  {"framelength", (int)offsetof(mjVisual, scale.framelength), 1, 1, 1, {1.0}},
+  {"framelength", (int)offsetof(mjVisual, scale.framelength), 1, 1, 1, 0, {1.0}},
-  {"framewidth", (int)offsetof(mjVisual, scale.framewidth), 1, 1, 1, {0.1}},
+  {"framewidth", (int)offsetof(mjVisual, scale.framewidth), 1, 1, 1, 0, {0.1}},
-  {"constraint", (int)offsetof(mjVisual, scale.constraint), 1, 1, 1, {0.1}},
+  {"constraint", (int)offsetof(mjVisual, scale.constraint), 1, 1, 1, 0, {0.1}},
-  {"slidercrank", (int)offsetof(mjVisual, scale.slidercrank), 1, 1, 1, {0.2}},
+  {"slidercrank", (int)offsetof(mjVisual, scale.slidercrank), 1, 1, 1, 0, {0.2}},
-  {"frustum", (int)offsetof(mjVisual, scale.frustum), 1, 1, 1, {10.0}},
+  {"frustum", (int)offsetof(mjVisual, scale.frustum), 1, 1, 1, 0, {10.0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsActuator[] = {
-  {"gear", (int)offsetof(mjsActuator, gear), 0, 6, 6, {1.0, 0.0, 0.0, 0.0, 0.0, 0.0}},
+  {"group", (int)offsetof(mjsActuator, group), 2, 1, 0, 0, {0}},
-  {"actdim", (int)offsetof(mjsActuator, actdim), 2, 1, 1, {-1.0}},
+  {"nsample", (int)offsetof(mjsActuator, nsample), 2, 1, 0, 0, {0}},
-  {"dyntype", (int)offsetof(mjsActuator, dyntype), 2, 1, 1, {(double)mjDYN_NONE}},
+  {"interp", (int)offsetof(mjsActuator, interp), 2, 1, 0, 0, {0}},
-  {"gaintype", (int)offsetof(mjsActuator, gaintype), 2, 1, 1, {(double)mjGAIN_FIXED}},
+  {"delay", (int)offsetof(mjsActuator, delay), 0, 1, 0, 0, {0}},
-  {"biastype", (int)offsetof(mjsActuator, biastype), 2, 1, 1, {(double)mjBIAS_NONE}},
+  {"ctrlrange", (int)offsetof(mjsActuator, ctrlrange), 0, 2, 0, 0, {0}},
-  {"dynprm", (int)offsetof(mjsActuator, dynprm), 0, mjNDYN, 1, {1.0}},
+  {"ctrllimited", (int)offsetof(mjsActuator, ctrllimited), 2, 1, 1, 0, {(double)2}},
-  {"gainprm", (int)offsetof(mjsActuator, gainprm), 0, mjNGAIN, 1, {1.0}},
+  {"forcelimited", (int)offsetof(mjsActuator, forcelimited), 2, 1, 1, 0, {(double)2}},
+  {"actlimited", (int)offsetof(mjsActuator, actlimited), 2, 1, 1, 0, {(double)2}},
+  {"forcerange", (int)offsetof(mjsActuator, forcerange), 0, 2, 0, 0, {0}},
+  {"actrange", (int)offsetof(mjsActuator, actrange), 0, 2, 0, 0, {0}},
+  {"lengthrange", (int)offsetof(mjsActuator, lengthrange), 0, 2, 0, 0, {0}},
+  {"gear", (int)offsetof(mjsActuator, gear), 0, 6, 6, 0, {1.0, 0.0, 0.0, 0.0, 0.0, 0.0}},
+  {"damping", (int)offsetof(mjsActuator, damping), 0, mjNPOLY+1, 0, 0, {0}},
+  {"armature", (int)offsetof(mjsActuator, armature), 0, 1, 0, 0, {0}},
+  {"cranklength", (int)offsetof(mjsActuator, cranklength), 0, 1, 0, 0, {0}},
+  {"actdim", (int)offsetof(mjsActuator, actdim), 2, 1, 1, 0, {-1.0}},
+  {"velrange", (int)offsetof(mjsActuator, velrange), 0, 2, 0, 0, {0}},
+  {"ffrange", (int)offsetof(mjsActuator, ffrange), 0, 2, 0, 0, {0}},
+  {"dyntype", (int)offsetof(mjsActuator, dyntype), 2, 1, 1, 0, {(double)mjDYN_NONE}},
+  {"gaintype", (int)offsetof(mjsActuator, gaintype), 2, 1, 1, 0, {(double)mjGAIN_FIXED}},
+  {"biastype", (int)offsetof(mjsActuator, biastype), 2, 1, 1, 0, {(double)mjBIAS_NONE}},
+  {"dynprm", (int)offsetof(mjsActuator, dynprm), 0, mjNDYN, 1, 0, {1.0}},
+  {"gainprm", (int)offsetof(mjsActuator, gainprm), 0, mjNGAIN, 1, 0, {1.0}},
+  {"biasprm", (int)offsetof(mjsActuator, biasprm), 0, mjNBIAS, 0, 0, {0}},
+  {"actearly", (int)offsetof(mjsActuator, actearly), 3, 1, 0, 0, {0}},
+  {"inheritrange", (int)offsetof(mjsActuator, inheritrange), 0, 1, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsBody[] = {
-  {"pos", (int)offsetof(mjsBody, pos), 0, 3, 3, {0.0, 0.0, 0.0}},
+  {"pos", (int)offsetof(mjsBody, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"quat", (int)offsetof(mjsBody, quat), 0, 4, 4, {1.0, 0.0, 0.0, 0.0}},
+  {"quat", (int)offsetof(mjsBody, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"simple", (int)offsetof(mjsBody, simple), 3, 1, 1, {(double)1}},
+  {"mocap", (int)offsetof(mjsBody, mocap), 3, 1, 0, 0, {0}},
+  {"gravcomp", (int)offsetof(mjsBody, gravcomp), 0, 1, 0, 0, {0}},
+  {"sleep", (int)offsetof(mjsBody, sleep), 2, 1, 0, 0, {0}},
+  {"simple", (int)offsetof(mjsBody, simple), 3, 1, 1, 0, {(double)1}},
+  {"pos", (int)offsetof(mjsBody, ipos), 0, 3, 0, 1, {0}},
+  {"quat", (int)offsetof(mjsBody, iquat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
+  {"mass", (int)offsetof(mjsBody, mass), 0, 1, 0, 0, {0}},
+  {"diaginertia", (int)offsetof(mjsBody, inertia), 0, 3, 0, 0, {0}},
+  {"fullinertia", (int)offsetof(mjsBody, fullinertia), 0, 6, 0, 1, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsCamera[] = {
-  {"fovy", (int)offsetof(mjsCamera, fovy), 0, 1, 1, {45.0}},
+  {"projection", (int)offsetof(mjsCamera, proj), 2, 1, 0, 0, {0}},
-  {"ipd", (int)offsetof(mjsCamera, ipd), 0, 1, 1, {0.068}},
+  {"fovy", (int)offsetof(mjsCamera, fovy), 0, 1, 1, 0, {45.0}},
-  {"resolution", (int)offsetof(mjsCamera, resolution), 2, 2, 2, {1.0, 1.0}},
+  {"ipd", (int)offsetof(mjsCamera, ipd), 0, 1, 1, 0, {0.068}},
-  {"pos", (int)offsetof(mjsCamera, pos), 0, 3, 3, {0.0, 0.0, 0.0}},
+  {"resolution", (int)offsetof(mjsCamera, resolution), 2, 2, 2, 0, {1.0, 1.0}},
-  {"quat", (int)offsetof(mjsCamera, quat), 0, 4, 4, {1.0, 0.0, 0.0, 0.0}},
+  {"pos", (int)offsetof(mjsCamera, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"mode", (int)offsetof(mjsCamera, mode), 2, 1, 1, {(double)mjCAMLIGHT_FIXED}},
+  {"quat", (int)offsetof(mjsCamera, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
+  {"mode", (int)offsetof(mjsCamera, mode), 2, 1, 1, 0, {(double)mjCAMLIGHT_FIXED}},
+  {"focal", (int)offsetof(mjsCamera, focal_length), 1, 2, 0, 0, {0}},
+  {"focalpixel", (int)offsetof(mjsCamera, focal_pixel), 1, 2, 0, 0, {0}},
+  {"principal", (int)offsetof(mjsCamera, principal_length), 1, 2, 0, 0, {0}},
+  {"principalpixel", (int)offsetof(mjsCamera, principal_pixel), 1, 2, 0, 0, {0}},
+  {"sensorsize", (int)offsetof(mjsCamera, sensor_size), 1, 2, 0, 0, {0}},
+};
+
+static const mjXDefaultEntry kDefaults_mjsCompiler[] = {
+  {"autolimits", (int)offsetof(mjsCompiler, autolimits), 3, 1, 1, 0, {1}},
+  {"boundmass", (int)offsetof(mjsCompiler, boundmass), 0, 1, 0, 0, {0}},
+  {"boundinertia", (int)offsetof(mjsCompiler, boundinertia), 0, 1, 0, 0, {0}},
+  {"settotalmass", (int)offsetof(mjsCompiler, settotalmass), 0, 1, 1, 0, {-1.0}},
+  {"balanceinertia", (int)offsetof(mjsCompiler, balanceinertia), 3, 1, 0, 0, {0}},
+  {"angle", (int)offsetof(mjsCompiler, degree), 3, 1, 1, 0, {(double)1}},
+  {"fitaabb", (int)offsetof(mjsCompiler, fitaabb), 3, 1, 0, 0, {0}},
+  {"discardvisual", (int)offsetof(mjsCompiler, discardvisual), 3, 1, 0, 0, {0}},
+  {"usethread", (int)offsetof(mjsCompiler, usethread), 3, 1, 1, 0, {1}},
+  {"fusestatic", (int)offsetof(mjsCompiler, fusestatic), 3, 1, 0, 0, {0}},
+  {"inertiafromgeom", (int)offsetof(mjsCompiler, inertiafromgeom), 2, 1, 1, 0, {(double)2}},
+  {"inertiagrouprange", (int)offsetof(mjsCompiler, inertiagrouprange), 2, 2, 2, 0, {0.0, 5.0}},
+  {"saveinertial", (int)offsetof(mjsCompiler, saveinertial), 3, 1, 0, 0, {0}},
+  {"alignfree", (int)offsetof(mjsCompiler, alignfree), 3, 1, 0, 0, {0}},
+  {"conflict", (int)offsetof(mjsCompiler, conflict), 2, 1, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsEquality[] = {
-  {"active", (int)offsetof(mjsEquality, active), 3, 1, 1, {1}},
+  {"active", (int)offsetof(mjsEquality, active), 3, 1, 1, 0, {1}},
-  {"solref", (int)offsetof(mjsEquality, solref), 4, mjNREF, 2, {0.02, 1.0}},
+  {"solref", (int)offsetof(mjsEquality, solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimp", (int)offsetof(mjsEquality, solimp), 4, mjNIMP, 5, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"solimp", (int)offsetof(mjsEquality, solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
+};
+
+static const mjXDefaultEntry kDefaults_mjsFlex[] = {
+  {"young", (int)offsetof(mjsFlex, young), 0, 1, 0, 0, {0}},
+  {"poisson", (int)offsetof(mjsFlex, poisson), 0, 1, 0, 0, {0}},
+  {"damping", (int)offsetof(mjsFlex, damping), 0, 1, 0, 0, {0}},
+  {"thickness", (int)offsetof(mjsFlex, thickness), 0, 1, 1, 0, {-1.0}},
+  {"elastic2d", (int)offsetof(mjsFlex, elastic2d), 2, 1, 0, 0, {0}},
+  {"contype", (int)offsetof(mjsFlex, contype), 2, 1, 1, 0, {1.0}},
+  {"conaffinity", (int)offsetof(mjsFlex, conaffinity), 2, 1, 1, 0, {1.0}},
+  {"condim", (int)offsetof(mjsFlex, condim), 2, 1, 1, 0, {3.0}},
+  {"priority", (int)offsetof(mjsFlex, priority), 2, 1, 0, 0, {0}},
+  {"friction", (int)offsetof(mjsFlex, friction), 0, 3, 3, 0, {1.0, 0.005, 0.0001}},
+  {"solmix", (int)offsetof(mjsFlex, solmix), 0, 1, 1, 0, {1.0}},
+  {"solref", (int)offsetof(mjsFlex, solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
+  {"solimp", (int)offsetof(mjsFlex, solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"margin", (int)offsetof(mjsFlex, margin), 0, 1, 0, 0, {0}},
+  {"gap", (int)offsetof(mjsFlex, gap), 0, 1, 0, 0, {0}},
+  {"internal", (int)offsetof(mjsFlex, internal), 3, 1, 0, 0, {0}},
+  {"selfcollide", (int)offsetof(mjsFlex, selfcollide), 2, 1, 1, 0, {(double)mjFLEXSELF_AUTO}},
+  {"activelayers", (int)offsetof(mjsFlex, activelayers), 2, 1, 1, 0, {1.0}},
+  {"passive", (int)offsetof(mjsFlex, passive), 2, 1, 0, 0, {0}},
+  {"group", (int)offsetof(mjsFlex, group), 2, 1, 0, 0, {0}},
+  {"dim", (int)offsetof(mjsFlex, dim), 2, 1, 1, 0, {2.0}},
+  {"radius", (int)offsetof(mjsFlex, radius), 0, 1, 1, 0, {0.005}},
+  {"rgba", (int)offsetof(mjsFlex, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
+  {"flatskin", (int)offsetof(mjsFlex, flatskin), 3, 1, 0, 0, {0}},
+  {"cellcount", (int)offsetof(mjsFlex, cellcount), 2, 3, 3, 0, {1.0, 1.0, 1.0}},
+  {"stiffness", (int)offsetof(mjsFlex, edgestiffness), 0, 1, 0, 0, {0}},
+  {"damping", (int)offsetof(mjsFlex, edgedamping), 0, 1, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsFrame[] = {
-  {"quat", (int)offsetof(mjsFrame, quat), 0, 4, 4, {1.0, 0.0, 0.0, 0.0}},
+  {"pos", (int)offsetof(mjsFrame, pos), 0, 3, 0, 0, {0}},
+  {"quat", (int)offsetof(mjsFrame, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsGeom[] = {
-  {"type", (int)offsetof(mjsGeom, type), 2, 1, 1, {(double)mjGEOM_SPHERE}},
+  {"type", (int)offsetof(mjsGeom, type), 2, 1, 1, 0, {(double)mjGEOM_SPHERE}},
-  {"contype", (int)offsetof(mjsGeom, contype), 2, 1, 1, {1.0}},
+  {"contype", (int)offsetof(mjsGeom, contype), 2, 1, 1, 0, {1.0}},
-  {"conaffinity", (int)offsetof(mjsGeom, conaffinity), 2, 1, 1, {1.0}},
+  {"conaffinity", (int)offsetof(mjsGeom, conaffinity), 2, 1, 1, 0, {1.0}},
-  {"condim", (int)offsetof(mjsGeom, condim), 2, 1, 1, {3.0}},
+  {"condim", (int)offsetof(mjsGeom, condim), 2, 1, 1, 0, {3.0}},
-  {"friction", (int)offsetof(mjsGeom, friction), 0, 3, 3, {1.0, 0.005, 0.0001}},
+  {"group", (int)offsetof(mjsGeom, group), 2, 1, 0, 0, {0}},
-  {"density", (int)offsetof(mjsGeom, density), 0, 1, 1, {1000.0}},
+  {"priority", (int)offsetof(mjsGeom, priority), 2, 1, 0, 0, {0}},
-  {"solmix", (int)offsetof(mjsGeom, solmix), 0, 1, 1, {1.0}},
+  {"size", (int)offsetof(mjsGeom, size), 0, 3, 0, 0, {0}},
-  {"solref", (int)offsetof(mjsGeom, solref), 4, mjNREF, 2, {0.02, 1.0}},
+  {"friction", (int)offsetof(mjsGeom, friction), 0, 3, 3, 0, {1.0, 0.005, 0.0001}},
-  {"solimp", (int)offsetof(mjsGeom, solimp), 4, mjNIMP, 5, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"mass", (int)offsetof(mjsGeom, mass), 0, 1, 0, 1, {0}},
-  {"pos", (int)offsetof(mjsGeom, pos), 0, 3, 3, {0.0, 0.0, 0.0}},
+  {"density", (int)offsetof(mjsGeom, density), 0, 1, 1, 0, {1000.0}},
-  {"quat", (int)offsetof(mjsGeom, quat), 0, 4, 4, {1.0, 0.0, 0.0, 0.0}},
+  {"shellinertia", (int)offsetof(mjsGeom, typeinertia), 2, 1, 0, 0, {0}},
-  {"fitscale", (int)offsetof(mjsGeom, fitscale), 0, 1, 1, {1.0}},
+  {"solmix", (int)offsetof(mjsGeom, solmix), 0, 1, 1, 0, {1.0}},
-  {"rgba", (int)offsetof(mjsGeom, rgba), 1, 4, 4, {0.5, 0.5, 0.5, 1.0}},
+  {"solref", (int)offsetof(mjsGeom, solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
+  {"solimp", (int)offsetof(mjsGeom, solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"margin", (int)offsetof(mjsGeom, margin), 0, 1, 0, 0, {0}},
+  {"gap", (int)offsetof(mjsGeom, gap), 0, 1, 0, 0, {0}},
+  {"surfacevel", (int)offsetof(mjsGeom, surfacevel), 0, 6, 0, 0, {0}},
+  {"adhesion", (int)offsetof(mjsGeom, adhesion), 0, 1, 0, 0, {0}},
+  {"fromto", (int)offsetof(mjsGeom, fromto), 0, 6, 0, 1, {0}},
+  {"pos", (int)offsetof(mjsGeom, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
+  {"quat", (int)offsetof(mjsGeom, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
+  {"fitscale", (int)offsetof(mjsGeom, fitscale), 0, 1, 1, 0, {1.0}},
+  {"rgba", (int)offsetof(mjsGeom, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
+  {"fluidshape", (int)offsetof(mjsGeom, fluid_ellipsoid), 4, 1, 0, 0, {0}},
+  {"fluidcoef", (int)offsetof(mjsGeom, fluid_coefs), 4, 5, 5, 0, {0.5, 0.25, 1.5, 1.0, 1.0}},
+};
+
+static const mjXDefaultEntry kDefaults_mjsHField[] = {
+  {"nrow", (int)offsetof(mjsHField, nrow), 2, 1, 0, 0, {0}},
+  {"ncol", (int)offsetof(mjsHField, ncol), 2, 1, 0, 0, {0}},
+  {"size", (int)offsetof(mjsHField, size), 0, 4, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsJoint[] = {
-  {"type", (int)offsetof(mjsJoint, type), 2, 1, 1, {(double)mjJNT_HINGE}},
+  {"type", (int)offsetof(mjsJoint, type), 2, 1, 1, 0, {(double)mjJNT_HINGE}},
-  {"axis", (int)offsetof(mjsJoint, axis), 0, 3, 3, {0.0, 0.0, 1.0}},
+  {"group", (int)offsetof(mjsJoint, group), 2, 1, 0, 0, {0}},
+  {"pos", (int)offsetof(mjsJoint, pos), 0, 3, 0, 0, {0}},
+  {"axis", (int)offsetof(mjsJoint, axis), 0, 3, 3, 0, {0.0, 0.0, 1.0}},
+  {"springdamper", (int)offsetof(mjsJoint, springdamper), 0, 2, 0, 0, {0}},
+  {"limited", (int)offsetof(mjsJoint, limited), 2, 1, 1, 0, {(double)2}},
+  {"actuatorfrclimited", (int)offsetof(mjsJoint, actfrclimited), 2, 1, 1, 0, {(double)2}},
+  {"solreflimit", (int)offsetof(mjsJoint, solref_limit), 4, mjNREF, 2, 0, {0.02, 1.0}},
+  {"solimplimit", (int)offsetof(mjsJoint, solimp_limit), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"solreffriction", (int)offsetof(mjsJoint, solref_friction), 4, mjNREF, 2, 0, {0.02, 1.0}},
+  {"solimpfriction", (int)offsetof(mjsJoint, solimp_friction), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"stiffness", (int)offsetof(mjsJoint, stiffness), 0, mjNPOLY+1, 0, 0, {0}},
+  {"range", (int)offsetof(mjsJoint, range), 0, 2, 0, 0, {0}},
+  {"actuatorfrcrange", (int)offsetof(mjsJoint, actfrcrange), 0, 2, 0, 0, {0}},
+  {"actuatorgravcomp", (int)offsetof(mjsJoint, actgravcomp), 3, 1, 0, 0, {0}},
+  {"margin", (int)offsetof(mjsJoint, margin), 0, 1, 0, 0, {0}},
+  {"ref", (int)offsetof(mjsJoint, ref), 0, 1, 0, 0, {0}},
+  {"springref", (int)offsetof(mjsJoint, springref), 0, 1, 0, 0, {0}},
+  {"armature", (int)offsetof(mjsJoint, armature), 0, 1, 0, 0, {0}},
+  {"damping", (int)offsetof(mjsJoint, damping), 0, mjNPOLY+1, 0, 0, {0}},
+  {"frictionloss", (int)offsetof(mjsJoint, frictionloss), 0, 1, 0, 0, {0}},
+};
+
+static const mjXDefaultEntry kDefaults_mjsKey[] = {
+  {"time", (int)offsetof(mjsKey, time), 0, 1, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsLight[] = {
-  {"castshadow", (int)offsetof(mjsLight, castshadow), 3, 1, 1, {1}},
+  {"type", (int)offsetof(mjsLight, type), 2, 1, 0, 0, {0}},
-  {"active", (int)offsetof(mjsLight, active), 3, 1, 1, {1}},
+  {"castshadow", (int)offsetof(mjsLight, castshadow), 3, 1, 1, 0, {1}},
-  {"pos", (int)offsetof(mjsLight, pos), 0, 3, 3, {0.0, 0.0, 0.0}},
+  {"active", (int)offsetof(mjsLight, active), 3, 1, 1, 0, {1}},
-  {"dir", (int)offsetof(mjsLight, dir), 0, 3, 3, {0.0, 0.0, -1.0}},
+  {"pos", (int)offsetof(mjsLight, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"bulbradius", (int)offsetof(mjsLight, bulbradius), 1, 1, 1, {0.02}},
+  {"dir", (int)offsetof(mjsLight, dir), 0, 3, 3, 0, {0.0, 0.0, -1.0}},
-  {"range", (int)offsetof(mjsLight, range), 1, 1, 1, {10.0}},
+  {"bulbradius", (int)offsetof(mjsLight, bulbradius), 1, 1, 1, 0, {0.02}},
-  {"attenuation", (int)offsetof(mjsLight, attenuation), 1, 3, 3, {1.0, 0.0, 0.0}},
+  {"intensity", (int)offsetof(mjsLight, intensity), 1, 1, 0, 0, {0}},
-  {"cutoff", (int)offsetof(mjsLight, cutoff), 1, 1, 1, {45.0}},
+  {"range", (int)offsetof(mjsLight, range), 1, 1, 1, 0, {10.0}},
-  {"exponent", (int)offsetof(mjsLight, exponent), 1, 1, 1, {10.0}},
+  {"attenuation", (int)offsetof(mjsLight, attenuation), 1, 3, 3, 0, {1.0, 0.0, 0.0}},
-  {"diffuse", (int)offsetof(mjsLight, diffuse), 1, 3, 3, {0.7, 0.7, 0.7}},
+  {"cutoff", (int)offsetof(mjsLight, cutoff), 1, 1, 1, 0, {45.0}},
-  {"specular", (int)offsetof(mjsLight, specular), 1, 3, 3, {0.3, 0.3, 0.3}},
+  {"exponent", (int)offsetof(mjsLight, exponent), 1, 1, 1, 0, {10.0}},
-  {"mode", (int)offsetof(mjsLight, mode), 2, 1, 1, {(double)mjCAMLIGHT_FIXED}},
+  {"ambient", (int)offsetof(mjsLight, ambient), 1, 3, 0, 0, {0}},
+  {"diffuse", (int)offsetof(mjsLight, diffuse), 1, 3, 3, 0, {0.7, 0.7, 0.7}},
+  {"specular", (int)offsetof(mjsLight, specular), 1, 3, 3, 0, {0.3, 0.3, 0.3}},
+  {"mode", (int)offsetof(mjsLight, mode), 2, 1, 1, 0, {(double)mjCAMLIGHT_FIXED}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsMaterial[] = {
-  {"texrepeat", (int)offsetof(mjsMaterial, texrepeat), 1, 2, 2, {1.0, 1.0}},
+  {"texrepeat", (int)offsetof(mjsMaterial, texrepeat), 1, 2, 2, 0, {1.0, 1.0}},
-  {"specular", (int)offsetof(mjsMaterial, specular), 1, 1, 1, {0.5}},
+  {"texuniform", (int)offsetof(mjsMaterial, texuniform), 3, 1, 0, 0, {0}},
-  {"shininess", (int)offsetof(mjsMaterial, shininess), 1, 1, 1, {0.5}},
+  {"emission", (int)offsetof(mjsMaterial, emission), 1, 1, 0, 0, {0}},
-  {"metallic", (int)offsetof(mjsMaterial, metallic), 1, 1, 1, {-1.0}},
+  {"specular", (int)offsetof(mjsMaterial, specular), 1, 1, 1, 0, {0.5}},
-  {"roughness", (int)offsetof(mjsMaterial, roughness), 1, 1, 1, {-1.0}},
+  {"shininess", (int)offsetof(mjsMaterial, shininess), 1, 1, 1, 0, {0.5}},
-  {"rgba", (int)offsetof(mjsMaterial, rgba), 1, 4, 4, {1.0, 1.0, 1.0, 1.0}},
+  {"reflectance", (int)offsetof(mjsMaterial, reflectance), 1, 1, 0, 0, {0}},
+  {"metallic", (int)offsetof(mjsMaterial, metallic), 1, 1, 1, 0, {-1.0}},
+  {"roughness", (int)offsetof(mjsMaterial, roughness), 1, 1, 1, 0, {-1.0}},
+  {"rgba", (int)offsetof(mjsMaterial, rgba), 1, 4, 4, 0, {1.0, 1.0, 1.0, 1.0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsMesh[] = {
-  {"refquat", (int)offsetof(mjsMesh, refquat), 0, 4, 4, {1.0, 0.0, 0.0, 0.0}},
+  {"refpos", (int)offsetof(mjsMesh, refpos), 0, 3, 0, 0, {0}},
-  {"scale", (int)offsetof(mjsMesh, scale), 0, 3, 3, {1.0, 1.0, 1.0}},
+  {"refquat", (int)offsetof(mjsMesh, refquat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"maxhullvert", (int)offsetof(mjsMesh, maxhullvert), 2, 1, 1, {-1.0}},
+  {"scale", (int)offsetof(mjsMesh, scale), 0, 3, 3, 0, {1.0, 1.0, 1.0}},
-  {"inertia", (int)offsetof(mjsMesh, inertia), 2, 1, 1, {(double)mjMESH_INERTIA_LEGACY}},
+  {"smoothnormal", (int)offsetof(mjsMesh, smoothnormal), 3, 1, 0, 0, {0}},
+  {"maxhullvert", (int)offsetof(mjsMesh, maxhullvert), 2, 1, 1, 0, {-1.0}},
+  {"inertia", (int)offsetof(mjsMesh, inertia), 2, 1, 1, 0, {(double)mjMESH_INERTIA_LEGACY}},
+};
+
+static const mjXDefaultEntry kDefaults_mjsNumeric[] = {
+  {"size", (int)offsetof(mjsNumeric, size), 2, 1, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsPair[] = {
-  {"condim", (int)offsetof(mjsPair, condim), 2, 1, 1, {3.0}},
+  {"condim", (int)offsetof(mjsPair, condim), 2, 1, 1, 0, {3.0}},
-  {"friction", (int)offsetof(mjsPair, friction), 0, 5, 5, {1.0, 1.0, 0.005, 0.0001, 0.0001}},
+  {"friction", (int)offsetof(mjsPair, friction), 0, 5, 5, 0, {1.0, 1.0, 0.005, 0.0001, 0.0001}},
-  {"solref", (int)offsetof(mjsPair, solref), 4, mjNREF, 2, {0.02, 1.0}},
+  {"solref", (int)offsetof(mjsPair, solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimp", (int)offsetof(mjsPair, solimp), 4, mjNIMP, 5, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"solreffriction", (int)offsetof(mjsPair, solreffriction), 4, mjNREF, 0, 0, {0}},
+  {"solimp", (int)offsetof(mjsPair, solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"gap", (int)offsetof(mjsPair, gap), 0, 1, 0, 0, {0}},
+  {"margin", (int)offsetof(mjsPair, margin), 0, 1, 0, 0, {0}},
+  {"adhesion", (int)offsetof(mjsPair, adhesion), 0, 1, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsSensor[] = {
-  {"datatype", (int)offsetof(mjsSensor, datatype), 2, 1, 1, {(double)mjDATATYPE_REAL}},
+  {"nsample", (int)offsetof(mjsSensor, nsample), 2, 1, 0, 0, {0}},
-  {"needstage", (int)offsetof(mjsSensor, needstage), 2, 1, 1, {(double)mjSTAGE_ACC}},
+  {"interp", (int)offsetof(mjsSensor, interp), 2, 1, 0, 0, {0}},
+  {"delay", (int)offsetof(mjsSensor, delay), 0, 1, 0, 0, {0}},
+  {"interval", (int)offsetof(mjsSensor, interval), 0, 2, 0, 0, {0}},
+  {"cutoff", (int)offsetof(mjsSensor, cutoff), 0, 1, 0, 0, {0}},
+  {"noise", (int)offsetof(mjsSensor, noise), 0, 1, 0, 0, {0}},
+  {"objtype", (int)offsetof(mjsSensor, objtype), 2, 1, 0, 0, {0}},
+  {"reftype", (int)offsetof(mjsSensor, reftype), 2, 1, 0, 0, {0}},
+  {"datatype", (int)offsetof(mjsSensor, datatype), 2, 1, 1, 0, {(double)mjDATATYPE_REAL}},
+  {"needstage", (int)offsetof(mjsSensor, needstage), 2, 1, 1, 0, {(double)mjSTAGE_ACC}},
+  {"dim", (int)offsetof(mjsSensor, dim), 2, 1, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsSite[] = {
-  {"type", (int)offsetof(mjsSite, type), 2, 1, 1, {(double)mjGEOM_SPHERE}},
+  {"type", (int)offsetof(mjsSite, type), 2, 1, 1, 0, {(double)mjGEOM_SPHERE}},
-  {"pos", (int)offsetof(mjsSite, pos), 0, 3, 3, {0.0, 0.0, 0.0}},
+  {"group", (int)offsetof(mjsSite, group), 2, 1, 0, 0, {0}},
-  {"quat", (int)offsetof(mjsSite, quat), 0, 4, 4, {1.0, 0.0, 0.0, 0.0}},
+  {"pos", (int)offsetof(mjsSite, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"size", (int)offsetof(mjsSite, size), 0, 3, 3, {0.005, 0.005, 0.005}},
+  {"quat", (int)offsetof(mjsSite, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"rgba", (int)offsetof(mjsSite, rgba), 1, 4, 4, {0.5, 0.5, 0.5, 1.0}},
+  {"size", (int)offsetof(mjsSite, size), 0, 3, 3, 0, {0.005, 0.005, 0.005}},
+  {"fromto", (int)offsetof(mjsSite, fromto), 0, 6, 0, 1, {0}},
+  {"rgba", (int)offsetof(mjsSite, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsSkin[] = {
-  {"rgba", (int)offsetof(mjsSkin, rgba), 1, 4, 4, {0.5, 0.5, 0.5, 1.0}},
+  {"rgba", (int)offsetof(mjsSkin, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
+  {"inflate", (int)offsetof(mjsSkin, inflate), 1, 1, 0, 0, {0}},
+  {"group", (int)offsetof(mjsSkin, group), 2, 1, 0, 0, {0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsTendon[] = {
-  {"springlength", (int)offsetof(mjsTendon, springlength), 0, 2, 2, {-1.0, -1.0}},
+  {"group", (int)offsetof(mjsTendon, group), 2, 1, 0, 0, {0}},
-  {"width", (int)offsetof(mjsTendon, width), 0, 1, 1, {0.003}},
+  {"limited", (int)offsetof(mjsTendon, limited), 2, 1, 1, 0, {(double)2}},
-  {"rgba", (int)offsetof(mjsTendon, rgba), 1, 4, 4, {0.5, 0.5, 0.5, 1.0}},
+  {"actuatorfrclimited", (int)offsetof(mjsTendon, actfrclimited), 2, 1, 0, 0, {0}},
+  {"range", (int)offsetof(mjsTendon, range), 0, 2, 0, 0, {0}},
+  {"actuatorfrcrange", (int)offsetof(mjsTendon, actfrcrange), 0, 2, 0, 0, {0}},
+  {"solreflimit", (int)offsetof(mjsTendon, solref_limit), 4, mjNREF, 2, 0, {0.02, 1.0}},
+  {"solimplimit", (int)offsetof(mjsTendon, solimp_limit), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"solreffriction", (int)offsetof(mjsTendon, solref_friction), 4, mjNREF, 2, 0, {0.02, 1.0}},
+  {"solimpfriction", (int)offsetof(mjsTendon, solimp_friction), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
+  {"frictionloss", (int)offsetof(mjsTendon, frictionloss), 0, 1, 0, 0, {0}},
+  {"springlength", (int)offsetof(mjsTendon, springlength), 0, 2, 2, 0, {-1.0, -1.0}},
+  {"width", (int)offsetof(mjsTendon, width), 0, 1, 1, 0, {0.003}},
+  {"margin", (int)offsetof(mjsTendon, margin), 0, 1, 0, 0, {0}},
+  {"stiffness", (int)offsetof(mjsTendon, stiffness), 0, mjNPOLY+1, 0, 0, {0}},
+  {"damping", (int)offsetof(mjsTendon, damping), 0, mjNPOLY+1, 0, 0, {0}},
+  {"armature", (int)offsetof(mjsTendon, armature), 0, 1, 0, 0, {0}},
+  {"rgba", (int)offsetof(mjsTendon, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
 };
 
 static const mjXDefaultEntry kDefaults_mjsTexture[] = {
-  {"type", (int)offsetof(mjsTexture, type), 2, 1, 1, {(double)mjTEXTURE_CUBE}},
+  {"type", (int)offsetof(mjsTexture, type), 2, 1, 1, 0, {(double)mjTEXTURE_CUBE}},
-  {"colorspace", (int)offsetof(mjsTexture, colorspace), 2, 1, 1, {(double)mjCOLORSPACE_AUTO}},
+  {"colorspace", (int)offsetof(mjsTexture, colorspace), 2, 1, 1, 0, {(double)mjCOLORSPACE_AUTO}},
-  {"gridsize", (int)offsetof(mjsTexture, gridsize), 2, 2, 2, {1.0, 1.0}},
+  {"gridsize", (int)offsetof(mjsTexture, gridsize), 2, 2, 2, 0, {1.0, 1.0}},
-  {"rgb1", (int)offsetof(mjsTexture, rgb1), 0, 3, 3, {0.8, 0.8, 0.8}},
+  {"builtin", (int)offsetof(mjsTexture, builtin), 2, 1, 0, 0, {0}},
-  {"rgb2", (int)offsetof(mjsTexture, rgb2), 0, 3, 3, {0.5, 0.5, 0.5}},
+  {"rgb1", (int)offsetof(mjsTexture, rgb1), 0, 3, 3, 0, {0.8, 0.8, 0.8}},
-  {"random", (int)offsetof(mjsTexture, random), 0, 1, 1, {0.01}},
+  {"rgb2", (int)offsetof(mjsTexture, rgb2), 0, 3, 3, 0, {0.5, 0.5, 0.5}},
-  {"nchannel", (int)offsetof(mjsTexture, nchannel), 2, 1, 1, {3.0}},
+  {"mark", (int)offsetof(mjsTexture, mark), 2, 1, 0, 0, {0}},
+  {"markrgb", (int)offsetof(mjsTexture, markrgb), 0, 3, 0, 0, {0}},
+  {"random", (int)offsetof(mjsTexture, random), 0, 1, 1, 0, {0.01}},
+  {"width", (int)offsetof(mjsTexture, width), 2, 1, 0, 0, {0}},
+  {"height", (int)offsetof(mjsTexture, height), 2, 1, 0, 0, {0}},
+  {"hflip", (int)offsetof(mjsTexture, hflip), 3, 1, 0, 0, {0}},
+  {"vflip", (int)offsetof(mjsTexture, vflip), 3, 1, 0, 0, {0}},
+  {"nchannel", (int)offsetof(mjsTexture, nchannel), 2, 1, 1, 0, {3.0}},
 };
 
 static const mjXDefaultTable kDefaultTables[] = {
+  {"mjLROpt", kDefaults_mjLROpt, (int)(sizeof(kDefaults_mjLROpt) / sizeof(kDefaults_mjLROpt[0]))},
   {"mjOption", kDefaults_mjOption, (int)(sizeof(kDefaults_mjOption) / sizeof(kDefaults_mjOption[0]))},
+  {"mjSpec", kDefaults_mjSpec, (int)(sizeof(kDefaults_mjSpec) / sizeof(kDefaults_mjSpec[0]))},
+  {"mjStatistic", kDefaults_mjStatistic, (int)(sizeof(kDefaults_mjStatistic) / sizeof(kDefaults_mjStatistic[0]))},
   {"mjVisual", kDefaults_mjVisual_global, (int)(sizeof(kDefaults_mjVisual_global) / sizeof(kDefaults_mjVisual_global[0]))},
   {"mjVisual", kDefaults_mjVisual_headlight, (int)(sizeof(kDefaults_mjVisual_headlight) / sizeof(kDefaults_mjVisual_headlight[0]))},
   {"mjVisual", kDefaults_mjVisual_map, (int)(sizeof(kDefaults_mjVisual_map) / sizeof(kDefaults_mjVisual_map[0]))},
   {"mjVisual", kDefaults_mjVisual_quality, (int)(sizeof(kDefaults_mjVisual_quality) / sizeof(kDefaults_mjVisual_quality[0]))},
+  {"mjVisual", kDefaults_mjVisual_rgba, (int)(sizeof(kDefaults_mjVisual_rgba) / sizeof(kDefaults_mjVisual_rgba[0]))},
   {"mjVisual", kDefaults_mjVisual_scale, (int)(sizeof(kDefaults_mjVisual_scale) / sizeof(kDefaults_mjVisual_scale[0]))},
   {"mjsActuator", kDefaults_mjsActuator, (int)(sizeof(kDefaults_mjsActuator) / sizeof(kDefaults_mjsActuator[0]))},
   {"mjsBody", kDefaults_mjsBody, (int)(sizeof(kDefaults_mjsBody) / sizeof(kDefaults_mjsBody[0]))},
   {"mjsCamera", kDefaults_mjsCamera, (int)(sizeof(kDefaults_mjsCamera) / sizeof(kDefaults_mjsCamera[0]))},
+  {"mjsCompiler", kDefaults_mjsCompiler, (int)(sizeof(kDefaults_mjsCompiler) / sizeof(kDefaults_mjsCompiler[0]))},
   {"mjsEquality", kDefaults_mjsEquality, (int)(sizeof(kDefaults_mjsEquality) / sizeof(kDefaults_mjsEquality[0]))},
+  {"mjsFlex", kDefaults_mjsFlex, (int)(sizeof(kDefaults_mjsFlex) / sizeof(kDefaults_mjsFlex[0]))},
   {"mjsFrame", kDefaults_mjsFrame, (int)(sizeof(kDefaults_mjsFrame) / sizeof(kDefaults_mjsFrame[0]))},
   {"mjsGeom", kDefaults_mjsGeom, (int)(sizeof(kDefaults_mjsGeom) / sizeof(kDefaults_mjsGeom[0]))},
+  {"mjsHField", kDefaults_mjsHField, (int)(sizeof(kDefaults_mjsHField) / sizeof(kDefaults_mjsHField[0]))},
   {"mjsJoint", kDefaults_mjsJoint, (int)(sizeof(kDefaults_mjsJoint) / sizeof(kDefaults_mjsJoint[0]))},
+  {"mjsKey", kDefaults_mjsKey, (int)(sizeof(kDefaults_mjsKey) / sizeof(kDefaults_mjsKey[0]))},
   {"mjsLight", kDefaults_mjsLight, (int)(sizeof(kDefaults_mjsLight) / sizeof(kDefaults_mjsLight[0]))},
   {"mjsMaterial", kDefaults_mjsMaterial, (int)(sizeof(kDefaults_mjsMaterial) / sizeof(kDefaults_mjsMaterial[0]))},
   {"mjsMesh", kDefaults_mjsMesh, (int)(sizeof(kDefaults_mjsMesh) / sizeof(kDefaults_mjsMesh[0]))},
+  {"mjsNumeric", kDefaults_mjsNumeric, (int)(sizeof(kDefaults_mjsNumeric) / sizeof(kDefaults_mjsNumeric[0]))},
   {"mjsPair", kDefaults_mjsPair, (int)(sizeof(kDefaults_mjsPair) / sizeof(kDefaults_mjsPair[0]))},
   {"mjsSensor", kDefaults_mjsSensor, (int)(sizeof(kDefaults_mjsSensor) / sizeof(kDefaults_mjsSensor[0]))},
   {"mjsSite", kDefaults_mjsSite, (int)(sizeof(kDefaults_mjsSite) / sizeof(kDefaults_mjsSite[0]))},

src/xml/mjcf.schema

@@ -527,23 +527,23 @@ element mujoco {
 #---------------------- compiler -------------------------------------------------------------------
 
 element compiler : mjsCompiler {
-  autolimits         : bool
+  autolimits         : bool = true
   boundmass          : double
   boundinertia       : double
-  settotalmass       : double
+  settotalmass       : double = -1
   balanceinertia     : bool
   strippath          : bool (reading=custom)      # stored on the spec
   coordinate         : enum<coordinate> (reading=custom)  # deprecation error
-  angle              : enum<angle> (field=degree)
+  angle              : enum<angle> = degree (field=degree)
   fitaabb            : bool
   eulerseq           : chars[3] (pattern="[xyzXYZ]{3}")
   meshdir            : string
   texturedir         : string
   discardvisual      : bool
-  usethread          : bool
+  usethread          : bool = true
   fusestatic         : bool
-  inertiafromgeom    : enum<FalseTrueAuto>
+  inertiafromgeom    : enum<FalseTrueAuto> = auto
-  inertiagrouprange  : int[2]
+  inertiagrouprange  : int[2] = {0, 5}
   saveinertial       : bool
   assetdir           : string (reading=custom)    # fans out to mesh/texturedir
   alignfree          : bool
@@ -552,16 +552,16 @@ element compiler : mjsCompiler {
 }
 
 element lengthrange : mjLROpt {
-  mode               : enum<lrmode>
+  mode               : enum<lrmode> = muscle
-  useexisting        : bool
+  useexisting        : bool = true
   uselimit           : bool
-  accel              : double
+  accel              : double = 20
   maxforce           : double
-  timeconst          : double
+  timeconst          : double = 1
-  timestep           : double
+  timestep           : double = 0.01
-  inttotal           : double
+  inttotal           : double = 10
-  interval           : double
+  interval           : double = 2
-  tolrange           : double
+  tolrange           : double = 0.05
 }
 
 
@@ -581,8 +581,8 @@ element option : mjOption {
   density            : double
   viscosity          : double
   o_margin           : double
-  o_solref           : double[1..mjNREF]
+  o_solref           : double[1..mjNREF] = {0.02, 1}
-  o_solimp           : double[1..mjNIMP]
+  o_solimp           : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2}
   o_friction         : double[1..5] = {1, 1, 0.005, 0.0001, 0.0001}
   integrator         : enum<integrator> = Euler
   cone               : enum<cone> = pyramidal
@@ -634,19 +634,19 @@ element flag {
 
 element size : mjSpec {
   memory             : string (reading=custom)    # suffixed byte count
-  njmax              : int (reading=custom)       # range/exclusivity checks
+  njmax              : int = -1 (reading=custom)  # range/exclusivity checks
-  nconmax            : int (reading=custom)       # range check
+  nconmax            : int = -1 (reading=custom)  # range check
-  nstack             : int (reading=custom)       # range/exclusivity checks
+  nstack             : int = -1 (reading=custom)  # range/exclusivity checks
   nuserdata          : int (min=-1)
   nkey               : int (min=-1)
-  nuser_body         : int (min=-1)
+  nuser_body         : int = -1 (min=-1)
-  nuser_jnt          : int (min=-1)
+  nuser_jnt          : int = -1 (min=-1)
-  nuser_geom         : int (min=-1)
+  nuser_geom         : int = -1 (min=-1)
-  nuser_site         : int (min=-1)
+  nuser_site         : int = -1 (min=-1)
-  nuser_cam          : int (min=-1)
+  nuser_cam          : int = -1 (min=-1)
-  nuser_tendon       : int (min=-1)
+  nuser_tendon       : int = -1 (min=-1)
-  nuser_actuator     : int (min=-1)
+  nuser_actuator     : int = -1 (min=-1)
-  nuser_sensor       : int (min=-1)
+  nuser_sensor       : int = -1 (min=-1)
   exclusive memory nstack
   exclusive memory njmax
 }
@@ -742,31 +742,31 @@ element scale : mjVisual (field=scale) {
 }
 
 element rgba : mjVisual (field=rgba) {
-  fog                : float[4]
+  fog                : float[4] = {0, 0, 0, 1}
-  haze               : float[4]
+  haze               : float[4] = {1, 1, 1, 1}
-  force              : float[4]
+  force              : float[4] = {1, 0.5, 0.5, 1}
-  inertia            : float[4]
+  inertia            : float[4] = {0.8, 0.2, 0.2, 0.6}
-  joint              : float[4]
+  joint              : float[4] = {0.2, 0.6, 0.8, 1}
-  actuator           : float[4]
+  actuator           : float[4] = {0.2, 0.25, 0.2, 1}
-  actuatornegative   : float[4]
+  actuatornegative   : float[4] = {0.2, 0.6, 0.9, 1}
-  actuatorpositive   : float[4]
+  actuatorpositive   : float[4] = {0.9, 0.4, 0.2, 1}
-  com                : float[4]
+  com                : float[4] = {0.9, 0.9, 0.9, 1}
-  camera             : float[4]
+  camera             : float[4] = {0.6, 0.9, 0.6, 1}
-  light              : float[4]
+  light              : float[4] = {0.6, 0.6, 0.9, 1}
-  selectpoint        : float[4]
+  selectpoint        : float[4] = {0.9, 0.9, 0.1, 1}
-  connect            : float[4]
+  connect            : float[4] = {0.2, 0.2, 0.8, 1}
-  contactpoint       : float[4]
+  contactpoint       : float[4] = {0.9, 0.6, 0.2, 1}
-  contactforce       : float[4]
+  contactforce       : float[4] = {0.7, 0.9, 0.9, 1}
-  contactfriction    : float[4]
+  contactfriction    : float[4] = {0.9, 0.8, 0.4, 1}
-  contacttorque      : float[4]
+  contacttorque      : float[4] = {0.9, 0.7, 0.9, 1}
-  contactgap         : float[4]
+  contactgap         : float[4] = {0.5, 0.8, 0.9, 1}
-  rangefinder        : float[4]
+  rangefinder        : float[4] = {1, 1, 0.1, 1}
-  constraint         : float[4]
+  constraint         : float[4] = {0.9, 0, 0, 1}
-  slidercrank        : float[4]
+  slidercrank        : float[4] = {0.5, 0.3, 0.8, 1}
-  crankbroken        : float[4]
+  crankbroken        : float[4] = {0.9, 0, 0, 1}
-  frustum            : float[4]
+  frustum            : float[4] = {1, 1, 0, 0.2}
-  bv                 : float[4]
+  bv                 : float[4] = {0, 1, 0, 0.5}
-  bvactive           : float[4]
+  bvactive           : float[4] = {1, 0, 0, 0.5}
 }
 
 
@@ -896,8 +896,8 @@ element bone {
   body               : ref<body> (required)
   bindpos            : double[3]
   bindquat           : double[4]
-  vertid             : double[]
+  vertid             : int[]
-  vertweight         : double[]
+  vertweight         : float[]
 }
 
 element texture : mjsTexture {
@@ -981,7 +981,7 @@ element body : mjsBody {
 
 element inertial : mjsBody {   # projects into the parent body's i-frame
   pos                : double[3] (required, field=ipos)
-  quat               : double[4] (reading=custom, field=iquat)
+  quat               : double[4] = {1, 0, 0, 0} (reading=custom, field=iquat)
   mass               : double (required)
   diaginertia        : double[3] (field=inertia)
   axisangle          : double[4] (reading=custom)
@@ -1000,12 +1000,12 @@ element joint : mjsJoint {
   pos                : double[3] (writing=custom)             # saved unless free
   axis               : double[3] = {0, 0, 1} (writing=custom)  # saved for slide/hinge
   springdamper       : double[2] (writing=custom)  # compile directive: saved as stiffness/damping
-  limited            : enum<FalseTrueAuto> (writing=custom)    # saved unless free
+  limited            : enum<FalseTrueAuto> = auto (writing=custom)  # saved unless free
-  actuatorfrclimited : enum<FalseTrueAuto> (field=actfrclimited, writing=custom)  # saved for slide/hinge
+  actuatorfrclimited : enum<FalseTrueAuto> = auto (field=actfrclimited, writing=custom)  # saved for slide/hinge
-  solreflimit        : double[1..mjNREF] (field=solref_limit)
+  solreflimit        : double[1..mjNREF] = {0.02, 1} (field=solref_limit)
-  solimplimit        : double[1..mjNIMP] (field=solimp_limit)
+  solimplimit        : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_limit)
-  solreffriction     : double[1..mjNREF] (field=solref_friction)
+  solreffriction     : double[1..mjNREF] = {0.02, 1} (field=solref_friction)
-  solimpfriction     : double[1..mjNIMP] (field=solimp_friction)
+  solimpfriction     : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_friction)
   stiffness          : double[1..3]      # spring polynomial, 1+mjNPOLY coefficients
   range              : double[2]
   actuatorfrcrange   : double[2] (field=actfrcrange)
@@ -1055,7 +1055,7 @@ element geom : mjsGeom {
   fitscale           : double = 1 (writing=custom)  # compile directive: not saved
   rgba               : float[4] = {0.5, 0.5, 0.5, 1}
   fluidshape         : enum<fluidshape> (field=fluid_ellipsoid, reading=custom)
-  fluidcoef          : double[1..5] (field=fluid_coefs)
+  fluidcoef          : double[1..5] = {0.5, 0.25, 1.5, 1, 1} (field=fluid_coefs)
   user               : double[] (field=userdata)
   child plugin *
 }
@@ -1130,7 +1130,7 @@ element light : mjsLight {
 element composite {
   prefix             : string
   type               : enum<comp> (required)
-  count              : double[1..3]
+  count              : int[1..3]
   offset             : double[3]
   vertex             : double[]
   initial            : string
@@ -1154,7 +1154,7 @@ element composite_joint (xml=joint) {
   solimpfix          : double[1..mjNIMP]
   type               : enum<jointtype>
   axis               : double[3]
-  limited            : enum<FalseTrueAuto>
+  limited            : enum<FalseTrueAuto> = auto
   range              : double[2]
   margin             : double
   solreflimit        : double[1..mjNREF]
@@ -1168,7 +1168,7 @@ element composite_skin (xml=skin) {
   texcoord           : bool
   material           : ref<material>
   group              : int
-  rgba               : double[4]
+  rgba               : float[4]
   inflate            : double
   subgrid            : int
 }
@@ -1182,7 +1182,7 @@ element composite_geom (xml=geom) {
   priority           : int
   size               : double[1..3]
   material           : ref<material>
-  rgba               : double[4]
+  rgba               : float[4]
   friction           : double[1..3]
   mass               : double
   density            : double
@@ -1199,7 +1199,7 @@ element composite_site (xml=site) {
   group              : int
   size               : double[1..3]
   material           : ref<material>
-  rgba               : double[4]
+  rgba               : float[4]
 }
 
 element flexcomp {
@@ -1208,8 +1208,8 @@ element flexcomp {
   group              : int
   dim                : int
   dof                : enum<fdof>
-  count              : double[3]
+  count              : int[3]
-  cellcount          : double[3]
+  cellcount          : int[3]
   spacing            : double[3]
   radius             : double
   rigid              : bool
@@ -1221,7 +1221,7 @@ element flexcomp {
   element            : double[]
   texcoord           : double[]
   material           : ref<material>
-  rgba               : double[4]
+  rgba               : float[4]
   flatskin           : bool
   pos                : double[3]
   quat               : double[4]
@@ -1249,24 +1249,24 @@ element elasticity : mjsFlex {
   young              : double
   poisson            : double
   damping            : double
-  thickness          : double
+  thickness          : double = -1
   elastic2d          : enum<elastic2d>
 }
 
 element flexcomp_contact : mjsFlex (xml=contact) {
-  contype            : int
+  contype            : int = 1
-  conaffinity        : int
+  conaffinity        : int = 1
-  condim             : int
+  condim             : int = 3
   priority           : int
-  friction           : double[1..3]
+  friction           : double[1..3] = {1, 0.005, 0.0001}
-  solmix             : double
+  solmix             : double = 1
-  solref             : double[1..mjNREF]
+  solref             : double[1..mjNREF] = {0.02, 1}
-  solimp             : double[1..mjNIMP]
+  solimp             : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2}
   margin             : double
   gap                : double
   internal           : bool
-  selfcollide        : enum<flexself>
+  selfcollide        : enum<flexself> = auto
-  activelayers       : int
+  activelayers       : int = 1
   passive            : bool
 }
 
@@ -1288,10 +1288,10 @@ element deformable {
 element flex : mjsFlex {
   name               : id<flex>
   group              : int
-  dim                : int
+  dim                : int = 2
-  radius             : double
+  radius             : double = 0.005
   material           : ref<material>
-  rgba               : float[4]
+  rgba               : float[4] = {0.5, 0.5, 0.5, 1}
   flatskin           : bool
   body               : string (required, field=vertbody)   # space-separated body names
   vertex             : double[] (field=vert)
@@ -1299,7 +1299,7 @@ element flex : mjsFlex {
   texcoord           : float[]
   elemtexcoord       : int[]
   node               : string (field=nodebody)             # space-separated body names
-  cellcount          : int[3] (reading=custom)            # seeded to {1,1,1} before reading
+  cellcount          : int[3] = {1, 1, 1} (reading=custom)  # seeded before reading
   dof                : enum<fdof> (reading=custom)        # lowers to interpolation order
   child flexcomp_contact ?
   child flex_edge ?
@@ -1352,14 +1352,14 @@ element spatial : mjsTendon {
   name               : id<tendon>
   class              : ref<default>
   group              : int
-  limited            : enum<FalseTrueAuto>
+  limited            : enum<FalseTrueAuto> = auto
   actuatorfrclimited : enum<FalseTrueAuto> (field=actfrclimited)
   range              : double[2]
   actuatorfrcrange   : double[2] (field=actfrcrange)
-  solreflimit        : double[1..mjNREF] (field=solref_limit)
+  solreflimit        : double[1..mjNREF] = {0.02, 1} (field=solref_limit)
-  solimplimit        : double[1..mjNIMP] (field=solimp_limit)
+  solimplimit        : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_limit)
-  solreffriction     : double[1..mjNREF] (field=solref_friction)
+  solreffriction     : double[1..mjNREF] = {0.02, 1} (field=solref_friction)
-  solimpfriction     : double[1..mjNIMP] (field=solimp_friction)
+  solimpfriction     : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_friction)
   frictionloss       : double
   springlength       : double[1..2] = {-1, -1} (reading=custom)   # one value: copied to both
   width              : double = 0.003
@@ -1395,14 +1395,14 @@ element fixed : mjsTendon {
   name               : id<tendon>
   class              : ref<default>
   group              : int
-  limited            : enum<FalseTrueAuto>
+  limited            : enum<FalseTrueAuto> = auto
   actuatorfrclimited : enum<FalseTrueAuto> (field=actfrclimited)
   range              : double[2]
   actuatorfrcrange   : double[2] (field=actfrcrange)
-  solreflimit        : double[1..mjNREF] (field=solref_limit)
+  solreflimit        : double[1..mjNREF] = {0.02, 1} (field=solref_limit)
-  solimplimit        : double[1..mjNIMP] (field=solimp_limit)
+  solimplimit        : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_limit)
-  solreffriction     : double[1..mjNREF] (field=solref_friction)
+  solreffriction     : double[1..mjNREF] = {0.02, 1} (field=solref_friction)
-  solimpfriction     : double[1..mjNIMP] (field=solimp_friction)
+  solimpfriction     : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_friction)
   frictionloss       : double
   springlength       : double[1..2] = {-1, -1} (reading=custom)   # one value: copied to both
   margin             : double
@@ -1509,9 +1509,9 @@ element actuator : mjsActuator {
 
 element general : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
-  actlimited         : enum<FalseTrueAuto>
+  actlimited         : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   actrange           : double[2]
   use actuator_dynamics
@@ -1532,8 +1532,8 @@ element general : mjsActuator {
 
 element motor : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   use actuator_dynamics
   use transmission
@@ -1541,8 +1541,8 @@ element motor : mjsActuator {
 
 element position : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   inheritrange       : double
   forcerange         : double[2]
   use actuator_dynamics
@@ -1555,8 +1555,8 @@ element position : mjsActuator {
 
 element velocity : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   use actuator_dynamics
   use transmission
@@ -1565,9 +1565,9 @@ element velocity : mjsActuator {
 
 element intvelocity : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
-  actlimited         : enum<FalseTrueAuto>
+  actlimited         : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   actrange           : double[2]
   inheritrange       : double
@@ -1580,7 +1580,7 @@ element intvelocity : mjsActuator {
 
 element orientation : mjsActuator {
   use actuator_base
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   joint              : ref<joint> (nodefault)
   site               : ref<site> (nodefault)
@@ -1593,8 +1593,8 @@ element orientation : mjsActuator {
 
 element pid : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   posrange           : double[2] (field=ctrlrange)  # alias: the position-setpoint range
   velrange           : double[2]
   ffrange            : double[2]
@@ -1613,7 +1613,7 @@ element pid : mjsActuator {
 
 element damper : mjsActuator {
   use actuator_base
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   use actuator_dynamics
   use transmission
@@ -1622,8 +1622,8 @@ element damper : mjsActuator {
 
 element cylinder : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   use actuator_dynamics
   use transmission
@@ -1635,8 +1635,8 @@ element cylinder : mjsActuator {
 
 element muscle : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   use actuator_dynamics
   joint              : ref<joint> (nodefault)
@@ -1644,7 +1644,7 @@ element muscle : mjsActuator {
   tendon             : ref<tendon> (nodefault)
   slidersite         : ref<site> (nodefault)
   cranksite          : ref<site> (nodefault)
-  timeconst          : double
+  timeconst          : double[2]
   tausmooth          : double (nodefault)
   range              : double[2]
   force              : double
@@ -1658,7 +1658,7 @@ element muscle : mjsActuator {
 
 element adhesion : mjsActuator {
   use actuator_base
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   body               : ref<body> (nodefault)
   gain               : double
@@ -1666,7 +1666,7 @@ element adhesion : mjsActuator {
 
 element dcmotor : mjsActuator {
   use actuator_base
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
   use actuator_dynamics
   use transmission
   motorconst         : double[1..2]
@@ -1685,9 +1685,9 @@ element actuator_plugin : mjsActuator (xml=plugin) {
   use actuator_base
   plugin             : string
   instance           : ref<instance>
-  ctrllimited        : enum<FalseTrueAuto>
+  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto>
+  forcelimited       : enum<FalseTrueAuto> = auto
-  actlimited         : enum<FalseTrueAuto>
+  actlimited         : enum<FalseTrueAuto> = auto
   forcerange         : double[2]
   actrange           : double[2]
   use actuator_dynamics
@@ -2268,7 +2268,7 @@ element default_equality (xml=equality) {
 
 element default_tendon (xml=tendon) {
   group              : int
-  limited            : enum<FalseTrueAuto>
+  limited            : enum<FalseTrueAuto> = auto
   range              : double[2]
   solreflimit        : double[1..mjNREF]
   solimplimit        : double[1..mjNIMP]
@@ -2279,8 +2279,8 @@ element default_tendon (xml=tendon) {
   width              : double
   material           : ref<material>
   margin             : double
-  stiffness          : double
+  stiffness          : double[1..3]
-  damping            : double
+  damping            : double[1..3]
-  rgba               : double[4]
+  rgba               : float[4]
   user               : double[]
 }

src/xml/xml_native_writer.cc

@@ -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);
+          // unlike connect, weld's body semantic does not require anchor,
-          WriteAttr(elem, "relpose", 7, equality->data+3);
+          // 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:

test/xml/schema_defaults_test.cc

@@ -13,9 +13,13 @@
 // limitations under the License.
 
 // Checks that the attribute defaults declared in mjcf.schema agree with the
-// C default-constructors: every generated row is compared against a
+// C default-constructors: every bound numeric attribute is compared against a
-// freshly-constructed spec element.
+// freshly-constructed spec element. Coverage is total, so a nonzero
+// constructor default that the schema does not declare is a failure: the
+// schema cannot silently under-declare. Fields whose constructor value is
+// the mjNAN "unset" sentinel are marked in the table and asserted NaN.
 
+#include <cmath>
 #include <map>
 #include <string>
 
@@ -40,6 +44,14 @@ TEST_F(SchemaDefaultsTest, DeclaredDefaultsMatchConstructors) {
   std::map<std::string, const void*> objects = {
       {"mjOption", &spec->option},
       {"mjVisual", &spec->visual},
+      {"mjStatistic", &spec->stat},
+      {"mjSpec", spec},
+      {"mjLROpt", &spec->compiler.LRopt},
+      {"mjsCompiler", &spec->compiler},
+      {"mjsFlex", mjs_addFlex(spec)},
+      {"mjsHField", mjs_addHField(spec)},
+      {"mjsKey", mjs_addKey(spec)},
+      {"mjsNumeric", mjs_addNumeric(spec)},
       {"mjsBody", body},
       {"mjsFrame", mjs_addFrame(body, nullptr)},
       {"mjsJoint", mjs_addJoint(body, nullptr)},
@@ -69,6 +81,16 @@ TEST_F(SchemaDefaultsTest, DeclaredDefaultsMatchConstructors) {
       for (int j = 0; j < entry.len; j++) {
         double expected = j < entry.ndecl ? entry.value[j] : 0;
         double actual = 0;
+        if (entry.unset && j == 0) {
+          // the constructor holds the mjNAN "unset" sentinel in the first
+          // slot (the rest are zeros), deliberately undeclared in the schema
+          double v = entry.kind == 4
+                         ? (double)reinterpret_cast<const mjtNum*>(field)[j]
+                         : reinterpret_cast<const double*>(field)[j];
+          EXPECT_TRUE(std::isnan(v))
+              << table.structname << "." << entry.attr << "[" << j << "]";
+          continue;
+        }
         switch (entry.kind) {
           case 0:  // double
             actual = reinterpret_cast<const double*>(field)[j];

test/xml/xml_api_test.cc

@@ -135,8 +135,8 @@ TEST_F(MujocoTest, SaveXmlShortString) {
   std::array<char, 10> out;
   EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
                                error.size()),
-              273);
+              223);
-  EXPECT_STREQ(error.data(), "Output string too short, should be at least 274");
+  EXPECT_STREQ(error.data(), "Output string too short, should be at least 224");
 
   mj_deleteSpec(spec);
   mj_deleteModel(model);

test/xml/xml_native_writer_test.cc

@@ -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