Don't infer limited attributes automatically by default.

This is an amendment to 4bfc2c0311.

Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.

PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90

src/user/user_model.cc

@@ -79,6 +79,8 @@ mjCModel::mjCModel() {
   modelfiledir.clear();
 
   //------------------------ compiler settings
+  // TODO(b/245077553): Toggle to true by default.
+  autolimits = false;
   boundmass = 0;
   boundinertia = 0;
   settotalmass = -1;

src/user/user_model.h

@@ -107,6 +107,7 @@ class mjCModel {
   std::vector<mjCDef*> defaults;  // settings for each defaults class
 
   //------------------------ compiler settings
+  bool autolimits;                // infer "limited" attribute based on range
   double boundmass;               // enfore minimum body mass
   double boundinertia;            // enfore minimum body diagonal inertia
   double settotalmass;            // rescale masses and inertias; <=0: ignore

src/user/user_objects.cc

@@ -19,6 +19,7 @@
 #include <cstdlib>
 #include <cstring>
 #include <iostream>
+#include <sstream>
 #include <string>
 #include <vector>
 
@@ -62,6 +63,18 @@ static void checksize(double* size, mjtGeom type, mjCBase* object, const char* n
   }
 }
 
+// error message for missing "limited" attribute
+static void checklimited(
+    const mjCBase* obj,
+    bool autolimits, const char* entity, const char* attr, int limited, bool hasrange) {
+  if (!autolimits && limited == 2 && hasrange) {
+    std::stringstream ss;
+    ss << entity << " has `" << attr << "range` but not `" << attr << "limited`. "
+       << "set the autolimits=\"true\" compiler option, specify `" << attr << "limited` "
+       << "explicitly (\"true\" or \"false\"), or remove the `" << attr << "range` attribute.";
+    throw mjCError(obj, "%s", ss.str().c_str());
+  }
+}
 
 
 //------------------------- class mjCError implementation ------------------------------------------
@@ -857,7 +870,9 @@ int mjCJoint::Compile(void) {
   }
   // otherwise if limited is auto, set according to whether range is specified
   else if (limited==2) {
-    limited = (range[0]==0 && range[1]==0) ? 0 : 1;
+    bool hasrange = !(range[0]==0 && range[1]==0);
+    checklimited(this, model->autolimits, "joint", "", limited, hasrange);
+    limited = hasrange ? 1 : 0;
   }
 
   // resolve limits
@@ -3222,7 +3237,9 @@ void mjCTendon::Compile(void) {
 
   // if limited is auto, set to 1 if range is specified, otherwise unlimited
   if (limited==2) {
-    limited = (range[0]==0 && range[1]==0) ? 0 : 1;
+    bool hasrange = !(range[0]==0 && range[1]==0);
+    checklimited(this, model->autolimits, "tendon", "", limited, hasrange);
+    limited = hasrange ? 1 : 0;
   }
 
   // check limits
@@ -3389,13 +3406,19 @@ void mjCActuator::Compile(void) {
 
   // if limited is auto, set to 1 if range is specified, otherwise unlimited
   if (forcelimited==2) {
-    forcelimited = (forcerange[0]==0 && forcerange[1]==0) ? 0 : 1;
+    bool hasrange = !(forcerange[0]==0 && forcerange[1]==0);
+    checklimited(this, model->autolimits, "actuator", "force", forcelimited, hasrange);
+    forcelimited = hasrange ? 1 : 0;
   }
   if (ctrllimited==2) {
-    ctrllimited = (ctrlrange[0]==0 && ctrlrange[1]==0) ? 0 : 1;
+    bool hasrange = !(ctrlrange[0]==0 && ctrlrange[1]==0);
+    checklimited(this, model->autolimits, "actuator", "ctrl", ctrllimited, hasrange);
+    ctrllimited = hasrange ? 1 : 0;
   }
   if (actlimited==2) {
-    actlimited = (actrange[0]==0 && actrange[1]==0) ? 0 : 1;
+    bool hasrange = !(actrange[0]==0 && actrange[1]==0);
+    checklimited(this, model->autolimits, "actuator", "act", actlimited, hasrange);
+    actlimited = hasrange ? 1 : 0;
   }
 
   // check limits

src/xml/xml_native_reader.cc

@@ -46,8 +46,8 @@ static const int nMJCF = 165;
 static const char* MJCF[nMJCF][mjXATTRNUM] = {
 {"mujoco", "!", "1", "model"},
 {"<"},
-    {"compiler", "*", "18", "boundmass", "boundinertia", "settotalmass", "balanceinertia",
-        "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
+    {"compiler", "*", "19", "autolimits", "boundmass", "boundinertia", "settotalmass",
+        "balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
         "meshdir", "texturedir", "discardvisual", "convexhull", "usethread",
         "fusestatic", "inertiafromgeom", "inertiagrouprange", "exactmeshinertia"},
     {"<"},
@@ -765,6 +765,9 @@ void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
   int n;
 
   // top-level attributes
+  if (MapValue(section, "autolimits", &n, bool_map, 2)) {
+    mod->autolimits = (n==1);
+  }
   ReadAttr(section, "boundmass", 1, &mod->boundmass, text);
   ReadAttr(section, "boundinertia", 1, &mod->boundinertia, text);
   ReadAttr(section, "settotalmass", 1, &mod->settotalmass, text);

src/xml/xml_native_writer.cc

@@ -696,6 +696,9 @@ void mjXWriter::Compiler(XMLElement* root) {
   if (model->exactmeshinertia) {
     WriteAttrTxt(section, "exactmeshinertia", "true");
   }
+  // always enable autolimits. limited attributes will be written appropriately
+  // TODO(b/245077553): Remove this when the default is true.
+  WriteAttrTxt(section, "autolimits", "true");
 }