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Use std::vector instead of array in MJCF schema.

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PiperOrigin-RevId: 831787681
Change-Id: I8093b8b10260daecb830e49319eda798e2dd2da5
This commit is contained in:
Kyle Bayes
2025-11-13 03:40:36 -08:00
committed by Copybara-Service
parent 26c1622ac8
commit 8b9fa2674c
5 changed files with 182 additions and 196 deletions
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src/xml/xml_native_reader.cc
+170 -170
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@@ -97,20 +97,20 @@ static void UpdateString(string& psuffix, int count, int i) {
//---------------------------------- MJCF schema --------------------------------------------------- //---------------------------------- MJCF schema ---------------------------------------------------
const char* MJCF[nMJCF][mjXATTRNUM] = { std::vector<const char*> MJCF[nMJCF] = {
{"mujoco", "!", "1", "model"}, {"mujoco", "!", "model"},
{"<"}, {"<"},
{"compiler", "*", "20", "autolimits", "boundmass", "boundinertia", "settotalmass", {"compiler", "*", "autolimits", "boundmass", "boundinertia", "settotalmass",
"balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq", "balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
"meshdir", "texturedir", "discardvisual", "usethread", "fusestatic", "inertiafromgeom", "meshdir", "texturedir", "discardvisual", "usethread", "fusestatic", "inertiafromgeom",
"inertiagrouprange", "saveinertial", "assetdir", "alignfree"}, "inertiagrouprange", "saveinertial", "assetdir", "alignfree"},
{"<"}, {"<"},
{"lengthrange", "?", "10", "mode", "useexisting", "uselimit", {"lengthrange", "?", "mode", "useexisting", "uselimit",
"accel", "maxforce", "timeconst", "timestep", "accel", "maxforce", "timeconst", "timestep",
"inttotal", "interval", "tolrange"}, "inttotal", "interval", "tolrange"},
{">"}, {">"},
{"option", "*", "27", {"option", "*",
"timestep", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance", "timestep", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
"ccd_tolerance", "sleep_tolerance", "gravity", "wind", "magnetic", "density", "viscosity", "ccd_tolerance", "sleep_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
"o_margin", "o_solref", "o_solimp", "o_friction", "o_margin", "o_solref", "o_solimp", "o_friction",
@@ -118,391 +118,391 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations", "solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations",
"sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"}, "sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
{"<"}, {"<"},
{"flag", "?", "25", "constraint", "equality", "frictionloss", "limit", "contact", {"flag", "?", "constraint", "equality", "frictionloss", "limit", "contact",
"spring", "damper", "gravity", "clampctrl", "warmstart", "filterparent", "actuation", "spring", "damper", "gravity", "clampctrl", "warmstart", "filterparent", "actuation",
"refsafe", "sensor", "midphase", "eulerdamp", "autoreset", "nativeccd", "island", "refsafe", "sensor", "midphase", "eulerdamp", "autoreset", "nativeccd", "island",
"override", "energy", "fwdinv", "invdiscrete", "multiccd", "sleep"}, "override", "energy", "fwdinv", "invdiscrete", "multiccd", "sleep"},
{">"}, {">"},
{"size", "*", "14", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey", {"size", "*", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey",
"nuser_body", "nuser_jnt", "nuser_geom", "nuser_site", "nuser_cam", "nuser_body", "nuser_jnt", "nuser_geom", "nuser_site", "nuser_cam",
"nuser_tendon", "nuser_actuator", "nuser_sensor"}, "nuser_tendon", "nuser_actuator", "nuser_sensor"},
{"visual", "*", "0"}, {"visual", "*"},
{"<"}, {"<"},
{"global", "?", "13", "cameraid", "orthographic", "fovy", "ipd", "azimuth", "elevation", {"global", "?", "cameraid", "orthographic", "fovy", "ipd", "azimuth", "elevation",
"linewidth", "glow", "offwidth", "offheight", "realtime", "ellipsoidinertia", "linewidth", "glow", "offwidth", "offheight", "realtime", "ellipsoidinertia",
"bvactive"}, "bvactive"},
{"quality", "?", "5", "shadowsize", "offsamples", "numslices", "numstacks", {"quality", "?", "shadowsize", "offsamples", "numslices", "numstacks",
"numquads"}, "numquads"},
{"headlight", "?", "4", "ambient", "diffuse", "specular", "active"}, {"headlight", "?", "ambient", "diffuse", "specular", "active"},
{"map", "?", "13", "stiffness", "stiffnessrot", "force", "torque", "alpha", {"map", "?", "stiffness", "stiffnessrot", "force", "torque", "alpha",
"fogstart", "fogend", "znear", "zfar", "haze", "shadowclip", "shadowscale", "fogstart", "fogend", "znear", "zfar", "haze", "shadowclip", "shadowscale",
"actuatortendon"}, "actuatortendon"},
{"scale", "?", "17", "forcewidth", "contactwidth", "contactheight", "connect", "com", {"scale", "?", "forcewidth", "contactwidth", "contactheight", "connect", "com",
"camera", "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength", "camera", "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength",
"actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"}, "actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
{"rgba", "?", "25", "fog", "haze", "force", "inertia", "joint", {"rgba", "?", "fog", "haze", "force", "inertia", "joint",
"actuator", "actuatornegative", "actuatorpositive", "com", "actuator", "actuatornegative", "actuatorpositive", "com",
"camera", "light", "selectpoint", "connect", "contactpoint", "contactforce", "camera", "light", "selectpoint", "connect", "contactpoint", "contactforce",
"contactfriction", "contacttorque", "contactgap", "rangefinder", "contactfriction", "contacttorque", "contactgap", "rangefinder",
"constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"}, "constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"},
{">"}, {">"},
{"statistic", "*", "5", "meaninertia", "meanmass", "meansize", "extent", "center"}, {"statistic", "*", "meaninertia", "meanmass", "meansize", "extent", "center"},
{"default", "R", "1", "class"}, {"default", "R", "class"},
{"<"}, {"<"},
{"mesh", "?", "3", "scale", "maxhullvert", "inertia"}, {"mesh", "?", "scale", "maxhullvert", "inertia"},
{"material", "?", "10", "texture", "emission", "specular", "shininess", {"material", "?", "texture", "emission", "specular", "shininess",
"reflectance", "metallic", "roughness", "rgba", "texrepeat", "texuniform"}, "reflectance", "metallic", "roughness", "rgba", "texrepeat", "texuniform"},
{"joint", "?", "22", "type", "group", "pos", "axis", "springdamper", {"joint", "?", "type", "group", "pos", "axis", "springdamper",
"limited", "actuatorfrclimited", "solreflimit", "solimplimit", "limited", "actuatorfrclimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorfrcrange", "solreffriction", "solimpfriction", "stiffness", "range", "actuatorfrcrange",
"actuatorgravcomp", "margin", "ref", "springref", "armature", "damping", "actuatorgravcomp", "margin", "ref", "springref", "armature", "damping",
"frictionloss", "user"}, "frictionloss", "user"},
{"geom", "?", "31", "type", "pos", "quat", "contype", "conaffinity", "condim", {"geom", "?", "type", "pos", "quat", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density", "group", "priority", "size", "material", "friction", "mass", "density",
"shellinertia", "solmix", "solref", "solimp", "shellinertia", "solmix", "solref", "solimp",
"margin", "gap", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "margin", "gap", "fromto", "axisangle", "xyaxes", "zaxis", "euler",
"hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"}, "hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
{"site", "?", "13", "type", "group", "pos", "quat", "material", {"site", "?", "type", "group", "pos", "quat", "material",
"size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"}, "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "?", "17", "orthographic", "fovy", "ipd", "resolution", "pos", "quat", {"camera", "?", "orthographic", "fovy", "ipd", "resolution", "pos", "quat",
"axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel", "axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel",
"principal", "principalpixel", "sensorsize", "user"}, "principal", "principalpixel", "sensorsize", "user"},
{"light", "?", "16", "pos", "dir", "bulbradius", "intensity", "range", {"light", "?", "pos", "dir", "bulbradius", "intensity", "range",
"directional", "type", "castshadow", "active", "attenuation", "cutoff", "exponent", "directional", "type", "castshadow", "active", "attenuation", "cutoff", "exponent",
"ambient", "diffuse", "specular", "mode"}, "ambient", "diffuse", "specular", "mode"},
{"pair", "?", "7", "condim", "friction", "solref", "solreffriction", "solimp", {"pair", "?", "condim", "friction", "solref", "solreffriction", "solimp",
"gap", "margin"}, "gap", "margin"},
{"equality", "?", "3", "active", "solref", "solimp"}, {"equality", "?", "active", "solref", "solimp"},
{"tendon", "?", "16", "group", "limited", "range", {"tendon", "?", "group", "limited", "range",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "width", "material", "frictionloss", "springlength", "width", "material",
"margin", "stiffness", "damping", "rgba", "user"}, "margin", "stiffness", "damping", "rgba", "user"},
{"general", "?", "18", "ctrllimited", "forcelimited", "actlimited", "ctrlrange", {"general", "?", "ctrllimited", "forcelimited", "actlimited", "ctrlrange",
"forcerange", "actrange", "gear", "cranklength", "user", "group", "actdim", "forcerange", "actrange", "gear", "cranklength", "user", "group", "actdim",
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"}, "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
{"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", {"motor", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group"}, "gear", "cranklength", "user", "group"},
{"position", "?", "13", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange", {"position", "?", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange",
"forcerange", "gear", "cranklength", "user", "group", "kp", "kv", "dampratio", "timeconst"}, "forcerange", "gear", "cranklength", "user", "group", "kp", "kv", "dampratio", "timeconst"},
{"velocity", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", {"velocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "kv"}, "gear", "cranklength", "user", "group", "kv"},
{"intvelocity", "?", "13", "ctrllimited", "forcelimited", {"intvelocity", "?", "ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "inheritrange", "ctrlrange", "forcerange", "actrange", "inheritrange",
"gear", "cranklength", "user", "group", "gear", "cranklength", "user", "group",
"kp", "kv", "dampratio"}, "kp", "kv", "dampratio"},
{"damper", "?", "8", "forcelimited", "ctrlrange", "forcerange", {"damper", "?", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "kv"}, "gear", "cranklength", "user", "group", "kv"},
{"cylinder", "?", "12", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", {"cylinder", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "gear", "cranklength", "user", "group",
"timeconst", "area", "diameter", "bias"}, "timeconst", "area", "diameter", "bias"},
{"muscle", "?", "17", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", {"muscle", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group", "gear", "cranklength", "user", "group",
"timeconst", "range", "force", "scale", "timeconst", "range", "force", "scale",
"lmin", "lmax", "vmax", "fpmax", "fvmax"}, "lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "?", "6", "forcelimited", "ctrlrange", "forcerange", {"adhesion", "?", "forcelimited", "ctrlrange", "forcerange",
"gain", "user", "group"}, "gain", "user", "group"},
{">"}, {">"},
{"extension", "*", "0"}, {"extension", "*"},
{"<"}, {"<"},
{"plugin", "*", "1", "plugin"}, {"plugin", "*", "plugin"},
{"<"}, {"<"},
{"instance", "*", "1", "name"}, {"instance", "*", "name"},
{"<"}, {"<"},
{"config", "*", "2", "key", "value"}, {"config", "*", "key", "value"},
{">"}, {">"},
{">"}, {">"},
{">"}, {">"},
{"custom", "*", "0"}, {"custom", "*"},
{"<"}, {"<"},
{"numeric", "*", "3", "name", "size", "data"}, {"numeric", "*", "name", "size", "data"},
{"text", "*", "2", "name", "data"}, {"text", "*", "name", "data"},
{"tuple", "*", "1", "name"}, {"tuple", "*", "name"},
{"<"}, {"<"},
{"element", "*", "3", "objtype", "objname", "prm"}, {"element", "*", "objtype", "objname", "prm"},
{">"}, {">"},
{">"}, {">"},
{"asset", "*", "0"}, {"asset", "*"},
{"<"}, {"<"},
{"mesh", "*", "17", "name", "class", "content_type", "file", "vertex", "normal", {"mesh", "*", "name", "class", "content_type", "file", "vertex", "normal",
"texcoord", "face", "refpos", "refquat", "scale", "smoothnormal", "texcoord", "face", "refpos", "refquat", "scale", "smoothnormal",
"maxhullvert", "inertia", "builtin", "params", "material"}, "maxhullvert", "inertia", "builtin", "params", "material"},
{"<"}, {"<"},
{"plugin", "*", "2", "plugin", "instance"}, {"plugin", "*", "plugin", "instance"},
{"<"}, {"<"},
{"config", "*", "2", "key", "value"}, {"config", "*", "key", "value"},
{">"}, {">"},
{">"}, {">"},
{"hfield", "*", "7", "name", "content_type", "file", "nrow", "ncol", "size", "elevation"}, {"hfield", "*", "name", "content_type", "file", "nrow", "ncol", "size", "elevation"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate", {"skin", "*", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face", "group"}, "vertex", "texcoord", "face", "group"},
{"<"}, {"<"},
{"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"}, {"bone", "*", "body", "bindpos", "bindquat", "vertid", "vertweight"},
{">"}, {">"},
{"texture", "*", "24", "name", "type", "colorspace", "content_type", "file", "gridsize", {"texture", "*", "name", "type", "colorspace", "content_type", "file", "gridsize",
"gridlayout", "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback", "gridlayout", "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
"builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height", "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
"hflip", "vflip", "nchannel"}, "hflip", "vflip", "nchannel"},
{"material", "*", "12", "name", "class", "texture", "texrepeat", "texuniform", {"material", "*", "name", "class", "texture", "texrepeat", "texuniform",
"emission", "specular", "shininess", "reflectance", "metallic", "roughness", "rgba"}, "emission", "specular", "shininess", "reflectance", "metallic", "roughness", "rgba"},
{"<"}, {"<"},
{"layer", "*", "2", "texture", "role"}, {"layer", "*", "texture", "role"},
{">"}, {">"},
{"model", "*", "3", "name", "file", "content_type"}, {"model", "*", "name", "file", "content_type"},
{">"}, {">"},
{"body", "R", "12", "name", "childclass", "pos", "quat", "mocap", {"body", "R", "name", "childclass", "pos", "quat", "mocap",
"axisangle", "xyaxes", "zaxis", "euler", "gravcomp", "sleep", "user"}, "axisangle", "xyaxes", "zaxis", "euler", "gravcomp", "sleep", "user"},
{"<"}, {"<"},
{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia", {"inertial", "?", "pos", "quat", "mass", "diaginertia",
"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"}, "axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
{"joint", "*", "24", "name", "class", "type", "group", "pos", "axis", {"joint", "*", "name", "class", "type", "group", "pos", "axis",
"springdamper", "limited", "actuatorfrclimited", "springdamper", "limited", "actuatorfrclimited",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref", "stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref",
"springref", "armature", "damping", "frictionloss", "user"}, "springref", "armature", "damping", "frictionloss", "user"},
{"freejoint", "*", "3", "name", "group", "align"}, {"freejoint", "*", "name", "group", "align"},
{"geom", "*", "33", "name", "class", "type", "contype", "conaffinity", "condim", {"geom", "*", "name", "class", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density", "group", "priority", "size", "material", "friction", "mass", "density",
"shellinertia", "solmix", "solref", "solimp", "shellinertia", "solmix", "solref", "solimp",
"margin", "gap", "fromto", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "margin", "gap", "fromto", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
"hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"}, "hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
{"<"}, {"<"},
{"plugin", "*", "2", "plugin", "instance"}, {"plugin", "*", "plugin", "instance"},
{"<"}, {"<"},
{"config", "*", "2", "key", "value"}, {"config", "*", "key", "value"},
{">"}, {">"},
{">"}, {">"},
{"attach", "*", "3", "model", "body", "prefix"}, {"attach", "*", "model", "body", "prefix"},
{"site", "*", "15", "name", "class", "type", "group", "pos", "quat", {"site", "*", "name", "class", "type", "group", "pos", "quat",
"material", "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"}, "material", "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "*", "20", "name", "class", "orthographic", "fovy", "ipd", "resolution", "pos", {"camera", "*", "name", "class", "orthographic", "fovy", "ipd", "resolution", "pos",
"quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target", "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target",
"focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"}, "focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
{"light", "*", "20", "name", "class", "directional", "type", "castshadow", "active", {"light", "*", "name", "class", "directional", "type", "castshadow", "active",
"pos", "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff", "pos", "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff",
"exponent", "ambient", "diffuse", "specular", "mode", "target", "texture"}, "exponent", "ambient", "diffuse", "specular", "mode", "target", "texture"},
{"plugin", "*", "2", "plugin", "instance"}, {"plugin", "*", "plugin", "instance"},
{"<"}, {"<"},
{"config", "*", "2", "key", "value"}, {"config", "*", "key", "value"},
{">"}, {">"},
{"composite", "*", "9", "prefix", "type", "count", "offset", {"composite", "*", "prefix", "type", "count", "offset",
"vertex", "initial", "curve", "size", "quat"}, "vertex", "initial", "curve", "size", "quat"},
{"<"}, {"<"},
{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature", {"joint", "*", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix", "type", "axis", "solreffix", "solimpfix", "type", "axis",
"limited", "range", "margin", "solreflimit", "solimplimit", "limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction"}, "frictionloss", "solreffriction", "solimpfriction"},
{"skin", "?", "6", "texcoord", "material", "group", "rgba", "inflate", "subgrid"}, {"skin", "?", "texcoord", "material", "group", "rgba", "inflate", "subgrid"},
{"geom", "?", "17", "type", "contype", "conaffinity", "condim", {"geom", "?", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "rgba", "friction", "mass", "group", "priority", "size", "material", "rgba", "friction", "mass",
"density", "solmix", "solref", "solimp", "margin", "gap"}, "density", "solmix", "solref", "solimp", "margin", "gap"},
{"site", "?", "4", "group", "size", "material", "rgba"}, {"site", "?", "group", "size", "material", "rgba"},
{"plugin", "*", "2", "plugin", "instance"}, {"plugin", "*", "plugin", "instance"},
{"<"}, {"<"},
{"config", "*", "2", "key", "value"}, {"config", "*", "key", "value"},
{">"}, {">"},
{">"}, {">"},
{"flexcomp", "*", "26", "name", "type", "group", "dim", "dof", {"flexcomp", "*", "name", "type", "group", "dim", "dof",
"count", "spacing", "radius", "rigid", "mass", "inertiabox", "count", "spacing", "radius", "rigid", "mass", "inertiabox",
"scale", "file", "point", "element", "texcoord", "material", "rgba", "scale", "file", "point", "element", "texcoord", "material", "rgba",
"flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "origin"}, "flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "origin"},
{"<"}, {"<"},
{"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"}, {"edge", "?", "equality", "solref", "solimp", "stiffness", "damping"},
{"elasticity", "?", "5", "young", "poisson", "damping", "thickness", "elastic2d"}, {"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
{"contact", "?", "15", "contype", "conaffinity", "condim", "priority", {"contact", "?", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap", "friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers", "vertcollide", "passive"}, "internal", "selfcollide", "activelayers", "vertcollide", "passive"},
{"pin", "*", "4", "id", "range", "grid", "gridrange"}, {"pin", "*", "id", "range", "grid", "gridrange"},
{"plugin", "*", "2", "plugin", "instance"}, {"plugin", "*", "plugin", "instance"},
{"<"}, {"<"},
{"config", "*", "2", "key", "value"}, {"config", "*", "key", "value"},
{">"}, {">"},
{">"}, {">"},
{">"}, {">"},
{"deformable", "*", "0"}, {"deformable", "*"},
{"<"}, {"<"},
{"flex", "*", "13", "name", "group", "dim", "radius", "material", {"flex", "*", "name", "group", "dim", "radius", "material",
"rgba", "flatskin", "body", "vertex", "element", "texcoord", "elemtexcoord", "node"}, "rgba", "flatskin", "body", "vertex", "element", "texcoord", "elemtexcoord", "node"},
{"<"}, {"<"},
{"contact", "?", "15", "contype", "conaffinity", "condim", "priority", {"contact", "?", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap", "friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers", "vertcollide", "passive"}, "internal", "selfcollide", "activelayers", "vertcollide", "passive"},
{"edge", "?", "2", "stiffness", "damping"}, {"edge", "?", "stiffness", "damping"},
{"elasticity", "?", "5", "young", "poisson", "damping", "thickness", "elastic2d"}, {"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
{">"}, {">"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate", {"skin", "*", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face", "group"}, "vertex", "texcoord", "face", "group"},
{"<"}, {"<"},
{"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"}, {"bone", "*", "body", "bindpos", "bindquat", "vertid", "vertweight"},
{">"}, {">"},
{">"}, {">"},
{"contact", "*", "0"}, {"contact", "*"},
{"<"}, {"<"},
{"pair", "*", "11", "name", "class", "geom1", "geom2", "condim", "friction", {"pair", "*", "name", "class", "geom1", "geom2", "condim", "friction",
"solref", "solreffriction", "solimp", "gap", "margin"}, "solref", "solreffriction", "solimp", "gap", "margin"},
{"exclude", "*", "3", "name", "body1", "body2"}, {"exclude", "*", "name", "body1", "body2"},
{">"}, {">"},
{"equality", "*", "0"}, {"equality", "*"},
{"<"}, {"<"},
{"connect", "*", "10", "name", "class", "body1", "body2", "anchor", {"connect", "*", "name", "class", "body1", "body2", "anchor",
"site1", "site2", "active", "solref", "solimp"}, "site1", "site2", "active", "solref", "solimp"},
{"weld", "*", "12", "name", "class", "body1", "body2", "relpose", "anchor", {"weld", "*", "name", "class", "body1", "body2", "relpose", "anchor",
"site1", "site2", "active", "solref", "solimp", "torquescale"}, "site1", "site2", "active", "solref", "solimp", "torquescale"},
{"joint", "*", "8", "name", "class", "joint1", "joint2", "polycoef", {"joint", "*", "name", "class", "joint1", "joint2", "polycoef",
"active", "solref", "solimp"}, "active", "solref", "solimp"},
{"tendon", "*", "8", "name", "class", "tendon1", "tendon2", "polycoef", {"tendon", "*", "name", "class", "tendon1", "tendon2", "polycoef",
"active", "solref", "solimp"}, "active", "solref", "solimp"},
{"flex", "*", "6", "name", "class", "flex", {"flex", "*", "name", "class", "flex",
"active", "solref", "solimp"}, "active", "solref", "solimp"},
{">"}, {">"},
{"tendon", "*", "0"}, {"tendon", "*"},
{"<"}, {"<"},
{"spatial", "*", "21", "name", "class", "group", "limited", "actuatorfrclimited", "range", {"spatial", "*", "name", "class", "group", "limited", "actuatorfrclimited", "range",
"actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction", "actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "width", "material", "frictionloss", "springlength", "width", "material",
"margin", "stiffness", "damping", "armature", "rgba", "user"}, "margin", "stiffness", "damping", "armature", "rgba", "user"},
{"<"}, {"<"},
{"site", "*", "1", "site"}, {"site", "*", "site"},
{"geom", "*", "2", "geom", "sidesite"}, {"geom", "*", "geom", "sidesite"},
{"pulley", "*", "1", "divisor"}, {"pulley", "*", "divisor"},
{">"}, {">"},
{"fixed", "*", "18", "name", "class", "group", "limited", "actuatorfrclimited", "range", {"fixed", "*", "name", "class", "group", "limited", "actuatorfrclimited", "range",
"actuatorfrcrange","solreflimit", "solimplimit", "solreffriction", "solimpfriction", "actuatorfrcrange","solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "margin", "stiffness", "damping", "armature", "user"}, "frictionloss", "springlength", "margin", "stiffness", "damping", "armature", "user"},
{"<"}, {"<"},
{"joint", "*", "2", "joint", "coef"}, {"joint", "*", "joint", "coef"},
{">"}, {">"},
{">"}, {">"},
{"actuator", "*", "0"}, {"actuator", "*"},
{"<"}, {"<"},
{"general", "*", "29", "name", "class", "group", {"general", "*", "name", "class", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange", "ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "user", "lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"body", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "body", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm",
"actearly"}, "actearly"},
{"motor", "*", "18", "name", "class", "group", {"motor", "*", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user", "lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"}, "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
{"position", "*", "23", "name", "class", "group", {"position", "*", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange", "ctrllimited", "forcelimited", "ctrlrange", "inheritrange", "forcerange",
"lengthrange", "gear", "cranklength", "user", "lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv", "dampratio", "timeconst"}, "kp", "kv", "dampratio", "timeconst"},
{"velocity", "*", "19", "name", "class", "group", {"velocity", "*", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user", "lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"}, "kv"},
{"intvelocity", "*", "23", "name", "class", "group", {"intvelocity", "*", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "inheritrange", "lengthrange", "ctrlrange", "forcerange", "actrange", "inheritrange", "lengthrange",
"gear", "cranklength", "user", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv", "dampratio"}, "kp", "kv", "dampratio"},
{"damper", "*", "18", "name", "class", "group", {"damper", "*", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user", "lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"}, "kv"},
{"cylinder", "*", "22", "name", "class", "group", {"cylinder", "*", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user", "lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"timeconst", "area", "diameter", "bias"}, "timeconst", "area", "diameter", "bias"},
{"muscle", "*", "26", "name", "class", "group", {"muscle", "*", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user", "lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "joint", "jointinparent", "tendon", "slidersite", "cranksite",
"timeconst", "tausmooth", "range", "force", "scale", "timeconst", "tausmooth", "range", "force", "scale",
"lmin", "lmax", "vmax", "fpmax", "fvmax"}, "lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "*", "9", "name", "class", "group", {"adhesion", "*", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"}, "forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
{"plugin", "*", "25", "name", "class", "plugin", "instance", "group", {"plugin", "*", "name", "class", "plugin", "instance", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange", "ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "joint", "jointinparent", "lengthrange", "gear", "cranklength", "joint", "jointinparent",
"site", "actdim", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user", "site", "actdim", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user",
"actearly"}, "actearly"},
{"<"}, {"<"},
{"config", "*", "2", "key", "value"}, {"config", "*", "key", "value"},
{">"}, {">"},
{">"}, {">"},
{"sensor", "*", "0"}, {"sensor", "*"},
{"<"}, {"<"},
{"touch", "*", "5", "name", "site", "cutoff", "noise", "user"}, {"touch", "*", "name", "site", "cutoff", "noise", "user"},
{"accelerometer", "*", "5", "name", "site", "cutoff", "noise", "user"}, {"accelerometer", "*", "name", "site", "cutoff", "noise", "user"},
{"velocimeter", "*", "5", "name", "site", "cutoff", "noise", "user"}, {"velocimeter", "*", "name", "site", "cutoff", "noise", "user"},
{"gyro", "*", "5", "name", "site", "cutoff", "noise", "user"}, {"gyro", "*", "name", "site", "cutoff", "noise", "user"},
{"force", "*", "5", "name", "site", "cutoff", "noise", "user"}, {"force", "*", "name", "site", "cutoff", "noise", "user"},
{"torque", "*", "5", "name", "site", "cutoff", "noise", "user"}, {"torque", "*", "name", "site", "cutoff", "noise", "user"},
{"magnetometer", "*", "5", "name", "site", "cutoff", "noise", "user"}, {"magnetometer", "*", "name", "site", "cutoff", "noise", "user"},
{"camprojection", "*", "6", "name", "site", "camera", "cutoff", "noise", "user"}, {"camprojection", "*", "name", "site", "camera", "cutoff", "noise", "user"},
{"rangefinder", "*", "5", "name", "site", "cutoff", "noise", "user"}, {"rangefinder", "*", "name", "site", "cutoff", "noise", "user"},
{"jointpos", "*", "5", "name", "joint", "cutoff", "noise", "user"}, {"jointpos", "*", "name", "joint", "cutoff", "noise", "user"},
{"jointvel", "*", "5", "name", "joint", "cutoff", "noise", "user"}, {"jointvel", "*", "name", "joint", "cutoff", "noise", "user"},
{"tendonpos", "*", "5", "name", "tendon", "cutoff", "noise", "user"}, {"tendonpos", "*", "name", "tendon", "cutoff", "noise", "user"},
{"tendonvel", "*", "5", "name", "tendon", "cutoff", "noise", "user"}, {"tendonvel", "*", "name", "tendon", "cutoff", "noise", "user"},
{"actuatorpos", "*", "5", "name", "actuator", "cutoff", "noise", "user"}, {"actuatorpos", "*", "name", "actuator", "cutoff", "noise", "user"},
{"actuatorvel", "*", "5", "name", "actuator", "cutoff", "noise", "user"}, {"actuatorvel", "*", "name", "actuator", "cutoff", "noise", "user"},
{"actuatorfrc", "*", "5", "name", "actuator", "cutoff", "noise", "user"}, {"actuatorfrc", "*", "name", "actuator", "cutoff", "noise", "user"},
{"jointactuatorfrc", "*", "5", "name", "joint", "cutoff", "noise", "user"}, {"jointactuatorfrc", "*", "name", "joint", "cutoff", "noise", "user"},
{"tendonactuatorfrc", "*", "5", "name", "tendon", "cutoff", "noise", "user"}, {"tendonactuatorfrc", "*", "name", "tendon", "cutoff", "noise", "user"},
{"ballquat", "*", "5", "name", "joint", "cutoff", "noise", "user"}, {"ballquat", "*", "name", "joint", "cutoff", "noise", "user"},
{"ballangvel", "*", "5", "name", "joint", "cutoff", "noise", "user"}, {"ballangvel", "*", "name", "joint", "cutoff", "noise", "user"},
{"jointlimitpos", "*", "5", "name", "joint", "cutoff", "noise", "user"}, {"jointlimitpos", "*", "name", "joint", "cutoff", "noise", "user"},
{"jointlimitvel", "*", "5", "name", "joint", "cutoff", "noise", "user"}, {"jointlimitvel", "*", "name", "joint", "cutoff", "noise", "user"},
{"jointlimitfrc", "*", "5", "name", "joint", "cutoff", "noise", "user"}, {"jointlimitfrc", "*", "name", "joint", "cutoff", "noise", "user"},
{"tendonlimitpos", "*", "5", "name", "tendon", "cutoff", "noise", "user"}, {"tendonlimitpos", "*", "name", "tendon", "cutoff", "noise", "user"},
{"tendonlimitvel", "*", "5", "name", "tendon", "cutoff", "noise", "user"}, {"tendonlimitvel", "*", "name", "tendon", "cutoff", "noise", "user"},
{"tendonlimitfrc", "*", "5", "name", "tendon", "cutoff", "noise", "user"}, {"tendonlimitfrc", "*", "name", "tendon", "cutoff", "noise", "user"},
{"framepos", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"}, {"framepos", "*", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framequat", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"}, {"framequat", "*", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framexaxis", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"}, {"framexaxis", "*", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"frameyaxis", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"}, {"frameyaxis", "*", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framezaxis", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"}, {"framezaxis", "*", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framelinvel", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"}, {"framelinvel", "*", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"frameangvel", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"}, {"frameangvel", "*", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framelinacc", "*", "6", "name", "objtype", "objname", "cutoff", "noise", "user"}, {"framelinacc", "*", "name", "objtype", "objname", "cutoff", "noise", "user"},
{"frameangacc", "*", "6", "name", "objtype", "objname", "cutoff", "noise", "user"}, {"frameangacc", "*", "name", "objtype", "objname", "cutoff", "noise", "user"},
{"subtreecom", "*", "5", "name", "body", "cutoff", "noise", "user"}, {"subtreecom", "*", "name", "body", "cutoff", "noise", "user"},
{"subtreelinvel", "*", "5", "name", "body", "cutoff", "noise", "user"}, {"subtreelinvel", "*", "name", "body", "cutoff", "noise", "user"},
{"subtreeangmom", "*", "5", "name", "body", "cutoff", "noise", "user"}, {"subtreeangmom", "*", "name", "body", "cutoff", "noise", "user"},
{"insidesite", "*", "7", "name", "site", "objtype", "objname", "cutoff", "noise", "user"}, {"insidesite", "*", "name", "site", "objtype", "objname", "cutoff", "noise", "user"},
{"distance", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"}, {"distance", "*", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"normal", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"}, {"normal", "*", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"fromto", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"}, {"fromto", "*", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"contact", "*", "14", "name", "geom1", "geom2", "body1", "body2", "subtree1", "subtree2", "site", {"contact", "*", "name", "geom1", "geom2", "body1", "body2", "subtree1", "subtree2", "site",
"num", "data", "reduce", "cutoff", "noise", "user"}, "num", "data", "reduce", "cutoff", "noise", "user"},
{"e_potential", "*", "4", "name", "cutoff", "noise", "user"}, {"e_potential", "*", "name", "cutoff", "noise", "user"},
{"e_kinetic", "*", "4", "name", "cutoff", "noise", "user"}, {"e_kinetic", "*", "name", "cutoff", "noise", "user"},
{"clock", "*", "4", "name", "cutoff", "noise", "user"}, {"clock", "*", "name", "cutoff", "noise", "user"},
{"user", "*", "9", "name", "objtype", "objname", "datatype", "needstage", {"user", "*", "name", "objtype", "objname", "datatype", "needstage",
"dim", "cutoff", "noise", "user"}, "dim", "cutoff", "noise", "user"},
{"tactile", "*", "4", "name", "geom", "mesh", "user"}, {"tactile", "*", "name", "geom", "mesh", "user"},
{"plugin", "*", "9", "name", "plugin", "instance", "cutoff", "objtype", "objname", "reftype", "refname", {"plugin", "*", "name", "plugin", "instance", "cutoff", "objtype", "objname", "reftype", "refname",
"user"}, "user"},
{"<"}, {"<"},
{"config", "*", "2", "key", "value"}, {"config", "*", "key", "value"},
{">"}, {">"},
{">"}, {">"},
{"keyframe", "*", "0"}, {"keyframe", "*"},
{"<"}, {"<"},
{"key", "*", "8", "name", "time", "qpos", "qvel", "act", "mpos", "mquat", "ctrl"}, {"key", "*", "name", "time", "qpos", "qvel", "act", "mpos", "mquat", "ctrl"},
{">"}, {">"},
{">"} {">"}
}; };
src/xml/xml_native_reader.h
+2 -1
View File
@@ -17,6 +17,7 @@
#include <sstream> #include <sstream>
#include <string> #include <string>
#include <vector>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
@@ -102,6 +103,6 @@ class mjXReader : public mjXBase {
// MJCF schema // MJCF schema
#define nMJCF 241 #define nMJCF 241
extern const char* MJCF[nMJCF][mjXATTRNUM]; extern std::vector<const char*> MJCF[nMJCF];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_ #endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
src/xml/xml_util.cc
+3 -3
View File
@@ -321,15 +321,15 @@ XMLElement* NextSiblingElement(XMLElement* e, const char* name) {
} }
// constructor // constructor
mjXSchema::mjXSchema(const char* schema[][mjXATTRNUM], unsigned nrow) { mjXSchema::mjXSchema(std::vector<const char*> schema[], unsigned nrow) {
// set name and type // set name and type
name_ = schema[0][0]; name_ = schema[0][0];
type_ = schema[0][1][0]; type_ = schema[0][1][0];
// set attributes // set attributes
int nattr = atoi(schema[0][2]); int nattr = schema[0].size() - 2;
for (int i = 0; i < nattr; i++) { for (int i = 0; i < nattr; i++) {
attr_.emplace(schema[0][3 + i]); attr_.emplace(schema[0][2 + i]);
} }
// process sub-elements of complex element // process sub-elements of complex element
src/xml/xml_util.h
+1 -5
View File
@@ -49,14 +49,10 @@ class [[nodiscard]] mjXError {
}; };
// max number of attribute fields in schema (plus 3)
#define mjXATTRNUM 36
// Custom XML file validation // Custom XML file validation
class mjXSchema { class mjXSchema {
public: public:
mjXSchema(const char* schema[][mjXATTRNUM], unsigned nrow); mjXSchema(std::vector<const char*> schema[], unsigned nrow);
std::string GetError(); // return error std::string GetError(); // return error
void Print(std::stringstream& str, int level) const; // print schema void Print(std::stringstream& str, int level) const; // print schema
test/xml/xml_schema_test.cc
+6 -17
View File
@@ -14,12 +14,11 @@
#include <optional> #include <optional>
#include <string> #include <string>
#include <vector>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include "src/xml/xml_native_reader.h" #include "src/xml/xml_native_reader.h"
#include "src/xml/xml_util.h"
#include "test/fixture.h" #include "test/fixture.h"
#include <absl/strings/numbers.h>
#include <absl/strings/str_format.h> #include <absl/strings/str_format.h>
namespace mujoco { namespace mujoco {
@@ -29,7 +28,7 @@ namespace {
using XMLSchemaTest = MujocoTest; using XMLSchemaTest = MujocoTest;
static std::optional<std::string> IsValidSchemaFormat( static std::optional<std::string> IsValidSchemaFormat(
const char* schema[][mjXATTRNUM], unsigned nrow) { std::vector<const char*> schema[], unsigned nrow) {
if (schema[0][0][0] == '<' || schema[0][0][0] == '>') { if (schema[0][0][0] == '<' || schema[0][0][0] == '>') {
return "expected element, found bracket"; return "expected element, found bracket";
} }
@@ -43,8 +42,8 @@ static std::optional<std::string> IsValidSchemaFormat(
// detect element // detect element
if (schema[i][0][0] != '<' && schema[i][0][0] != '>') { if (schema[i][0][0] != '<' && schema[i][0][0] != '>') {
// first 3 pointers required // first 2 pointers required
if (!schema[i][1] || !schema[i][2]) { if (!schema[i][1]) {
return absl::StrFormat("expected element, found null pointers" return absl::StrFormat("expected element, found null pointers"
"in row %d, element %s", i, schema[i][0]); "in row %d, element %s", i, schema[i][0]);
} }
@@ -56,19 +55,9 @@ static std::optional<std::string> IsValidSchemaFormat(
i, schema[i][0]); i, schema[i][0]);
} }
// number of attributes
int nattr = 0;
if (!absl::SimpleAtoi(schema[i][2], &nattr)) {
return absl::StrFormat("unparseable number of attributes in"
" row %d, element %s", i, schema[i][0]);
} else if (nattr < 0 || nattr > mjXATTRNUM - 3) {
return absl::StrFormat("invalid number of attributes in"
" row %d, element %s", i, schema[i][0]);
}
// attribute pointers // attribute pointers
for (int j = 0; j < nattr; j++) { for (int j = 0; j < schema[i].size() - 2; j++) {
if (!schema[i][3 + j]) { if (!schema[i][2 + j]) {
return absl::StrFormat("null attribute %d in" return absl::StrFormat("null attribute %d in"
" row %d, element %s", j, i, schema[i][0]); " row %d, element %s", j, i, schema[i][0]);
} }