Table-driven attribute writing: rebase the writer on the shared rows.

The writer consumes the same generated rows as the reader.
mjXWriter::WriteAttrTable drives the mechanical attributes of an
element from its mjXAttr rows: each bound field is compared against
the class default at the same offset -- the default object is the same
struct type, so the rows carry no comparison values -- and attributes
equal to their default are skipped. A null default object means the
element has no defaults, and every defined value is written.
Ranged-arity rows write with trailing-default trimming, which the
reader makes round-trip exact by refilling from the same default.
Call sites upcast to the private mjs base (the friend declarations
permit it; mjCMesh gains the friendship its siblings had); the
comparison object is def->X().spec, a freshly-defaulted struct for
the sections, or zero-initialized for size, whose spec defaults (-1,
auto) are resolved by compilation.

Converted: pair, geom, site, joint, camera, light, material, the
equality family, both tendon types (the fixed rows are the spatial
rows without appearance attributes -- exactly the tag difference), the
actuator, flex with its three sub-elements, mesh, skin, option, the
six visual sub-sections, statistic and size. The remnants keep names,
files, resolved reference strings (the mjC classes null their private
base's string pointers; resolved names live behind accessors), and the
writing=custom policies the schema declares: compile directives never
saved (fromto, springdamper, fitscale), type-dependent lengths and
attributes (sizes, joint pos/axis/limited, shellinertia), and
alternatives (mass/density, fovy-versus-intrinsics, the plugin-gated
gain/bias family). Compiler keeps its write-if-nonzero policy;
keyframe keeps its model-sized vectors.

Saved files are canonical: attributes follow schema declaration order
with remnants trailing, and sections follow the schema's dependency
order (statistic before visual, deformable before the contact and
equality sections that name flexes, tendon before the equality
constraints that name tendons, custom demoted to the data tail).
Uniform behavior fixes fall out: default-equal positionals are
dropped, dynprm is trimmed like every other ranged vector, and mesh
material -- read into the spec but never written -- now survives
save/load round trips. Changelog entries ride along.

Verified: full suite, doc_test, and the two-tier A/B harness --
saved XML reorders attributes, and every corpus model reloads to a
byte-identical binary.
PiperOrigin-RevId: 958255003
Change-Id: I5fe7346014450db88b2f3f8680a8f616f7d31266

This commit is contained in:

Yuval Tassa

2026-08-03 02:26:45 -07:00

committed by

Copybara-Service

parent 760477f406

commit 5e99ca6cb8

8 changed files with 209 additions and 385 deletions

									
										python/mujoco/specs_test.py
									
		+2
		-3
	
												View File
												
				@@ -20,7 +20,6 @@ import math

				import os

				import textwrap

				import typing

				import warnings

				import zipfile  # pylint: disable=unused-import

				from absl import flags

				@@ -61,7 +60,7 @@ class SpecsTest(absltest.TestCase):

				    </mujoco>

				    """

				    spec = mujoco.MjSpec.from_string(xml)

				    model = spec.compile()

				    spec.compile()

				    self.assertGreater(spec.timer[mujoco.mjtCTimer.mjCTIMER_TOTAL], 0)

				    self.assertGreater(spec.timer[mujoco.mjtCTimer.mjCTIMER_ASSETS], 0)

				    self.assertGreater(spec.timer[mujoco.mjtCTimer.mjCTIMER_TEXTURE], 0)

				@@ -152,7 +151,7 @@ class SpecsTest(absltest.TestCase):

				          <worldbody>

				            <body name="baz" pos="1 2 3" quat="0 1 0 0">

				              <site name="sitename" pos="0 0 0" type="box" user="1 2 3 4 5 6"/>

				              <site name="sitename" type="box" user="1 2 3 4 5 6"/>

				            </body>

				          </worldbody>

				        </mujoco>