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

test/engine/engine_core_smooth_test.cc

@@ -206,6 +206,7 @@ TEST_F(CoreSmoothTest, RefsiteBringsToPose) {
   constexpr char kRefsitePath[] = "engine/testdata/refsite.xml";
   const std::string xml_path = GetTestDataFilePath(kRefsitePath);
   mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
+  ASSERT_THAT(model, ::testing::NotNull());
   mjData* data = mj_makeData(model);
 
   // set pose target in ctrl (3 positions, 3 rotations)

test/engine/testdata/activation.xml

@@ -1,4 +1,5 @@
 <mujoco>
+  <compiler autolimits="true"/>
   <option density="1000"/>
 
   <worldbody>

test/engine/testdata/damper.xml

@@ -1,4 +1,5 @@
 <mujoco>
+  <compiler autolimits="true" />
   <worldbody>
     <geom type="plane" size="1 1 .01"/>
     <light pos="0 0 2"/>

test/engine/testdata/refsite.xml

@@ -1,4 +1,5 @@
 <mujoco>
+  <compiler autolimits="true"/>
   <!--
   Adding a high fluid viscosity and using implicit integration for extra stabillity.
   Extra stabillity is required because the abstract "arm" model is not very realistic.

test/user/testdata/auto_limits.xml

@@ -1,4 +1,5 @@
 <mujoco>
+  <compiler autolimits="true" />
   <default>
     <default class="limited_false">
       <joint limited="false"/>

test/user/user_objects_test.cc

@@ -604,5 +604,97 @@ TEST_F(LimitedTest, JointLimited) {
   mj_deleteModel(model);
 }
 
+TEST_F(LimitedTest, ErrorIfLimitedMissingOnJoint) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <compiler autolimits="false"/>
+    <worldbody>
+      <body>
+        <joint user="1" range="0 1"/>
+        <geom size="1"/>
+      </body>
+    </worldbody>
+  </mujoco>
+
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("limited"));
+}
+
+TEST_F(LimitedTest, ExplicitLimitedFalseIsOk) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <compiler autolimits="false"/>
+    <worldbody>
+      <body>
+        <joint user="1" limited="false" range="0 1"/>
+        <geom size="1"/>
+      </body>
+    </worldbody>
+  </mujoco>
+
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull()) << error.data();
+
+  EXPECT_EQ(model->jnt_limited[0], 0);
+  mj_deleteModel(model);
+}
+
+TEST_F(LimitedTest, ErrorIfLimitedMissingOnTendon) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <compiler autolimits="false"/>
+    <worldbody>
+      <body>
+        <joint type="slide"/>
+        <geom size="1"/>
+        <site name="s1"/>
+      </body>
+      <site name="s2"/>
+    </worldbody>
+    <tendon>
+      <spatial range="-1 1">
+        <site site="s1"/>
+        <site site="s2"/>
+      </spatial>
+    </tendon>
+  </mujoco>
+
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("limited"));
+  EXPECT_THAT(error.data(), HasSubstr("tendon"));
+}
+
+TEST_F(LimitedTest, ErrorIfForceLimitedMissingOnActuator) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <compiler autolimits="false"/>
+    <worldbody>
+      <body>
+        <joint type="slide" name="J1"/>
+        <geom size="1"/>
+      </body>
+    </worldbody>
+    <actuator>
+      <position joint="J1" forcerange="0 100"/>
+    </actuator>
+  </mujoco>
+
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, IsNull());
+  EXPECT_THAT(error.data(), HasSubstr("forcelimited"));
+  EXPECT_THAT(error.data(), HasSubstr("forcerange"));
+  EXPECT_THAT(error.data(), HasSubstr("actuator"));
+}
+
 }  // namespace
 }  // namespace mujoco

test/xml/xml_native_reader_test.cc

@@ -316,6 +316,7 @@ TEST_F(UserDataTest, ReadShellParameter) {
 TEST_F(UserDataTest, ReadsDamper) {
   static constexpr char xml[] = R"(
   <mujoco>
+    <compiler autolimits="true"/>
     <worldbody>
       <body>
         <geom size="1"/>

test/xml/xml_native_writer_test.cc

@@ -144,7 +144,7 @@ TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
 TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <compiler angle="radian"/>
+    <compiler angle="radian" autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge" range="-1 1"/>
@@ -160,10 +160,10 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
   mj_deleteModel(model);
 }
 
-TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimited) {
+TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimitedIfAutoLimits) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <compiler angle="radian"/>
+    <compiler angle="radian" autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge" limited="true" range="-1 1"/>
@@ -174,15 +174,16 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimited) {
   )";
   mjModel* model = LoadModelFromString(xml);
   std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
   EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
   EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
   mj_deleteModel(model);
 }
 
-TEST_F(XMLWriterTest, KeepsJointLimitedFalse) {
+TEST_F(XMLWriterTest, KeepsJointLimitedFalseIfAutoLimits) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <compiler angle="radian"/>
+    <compiler angle="radian" autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge" limited="false" range="-1 1"/>
@@ -200,7 +201,7 @@ TEST_F(XMLWriterTest, KeepsJointLimitedFalse) {
 TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <compiler angle="radian"/>
+    <compiler angle="radian" autolimits="true" />
     <worldbody>
       <body>
         <joint type="slide"/>
@@ -219,15 +220,16 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
   )";
   mjModel* model = LoadModelFromString(xml);
   std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
   EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
   EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
   mj_deleteModel(model);
 }
 
-TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimited) {
+TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimitedIfAutoLimits) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <compiler angle="radian"/>
+    <compiler angle="radian" autolimits="true" />
     <worldbody>
       <body>
         <joint type="slide"/>
@@ -246,15 +248,16 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimited) {
   )";
   mjModel* model = LoadModelFromString(xml);
   std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
   EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
   EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
   mj_deleteModel(model);
 }
 
-TEST_F(XMLWriterTest, KeepsTendonLimitedFalse) {
+TEST_F(XMLWriterTest, KeepsTendonLimitedFalseIfAutoLimits) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <compiler angle="radian"/>
+    <compiler angle="radian" autolimits="true" />
     <worldbody>
       <body>
         <joint type="slide"/>
@@ -280,6 +283,7 @@ TEST_F(XMLWriterTest, KeepsTendonLimitedFalse) {
 TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
   static constexpr char xml[] = R"(
   <mujoco>
+    <compiler autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge"/>
@@ -293,14 +297,16 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
   )";
   mjModel* model = LoadModelFromString(xml);
   std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
   EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
   EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
   mj_deleteModel(model);
 }
 
-TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimited) {
+TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimitedIfAutoLimits) {
   static constexpr char xml[] = R"(
   <mujoco>
+    <compiler autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge"/>
@@ -314,6 +320,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimited) {
   )";
   mjModel* model = LoadModelFromString(xml);
   std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
   EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
   EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
   mj_deleteModel(model);
@@ -322,6 +329,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimited) {
 TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
   static constexpr char xml[] = R"(
   <mujoco>
+    <compiler autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge"/>
@@ -342,6 +350,7 @@ TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
 TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
   static constexpr char xml[] = R"(
   <mujoco>
+    <compiler autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge"/>
@@ -360,9 +369,10 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
   mj_deleteModel(model);
 }
 
-TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimited) {
+TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimitedIfAutoLimits) {
   static constexpr char xml[] = R"(
   <mujoco>
+    <compiler autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge"/>
@@ -404,6 +414,7 @@ TEST_F(XMLWriterTest, KeepsCtrllimitedFalse) {
 TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
   static constexpr char xml[] = R"(
   <mujoco>
+    <compiler autolimits="true" />
     <worldbody>
       <body>
         <joint name="hinge"/>
@@ -417,6 +428,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
   )";
   mjModel* model = LoadModelFromString(xml);
   std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
   EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
   EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
   mj_deleteModel(model);
@@ -438,6 +450,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
   )";
   mjModel* model = LoadModelFromString(xml);
   std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
   EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
   EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
   mj_deleteModel(model);