From bafe490ea8225ca22336490e65014b9d71bb1e1c Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 15 Feb 2024 03:09:51 -0800
Subject: [PATCH] Sort assets in schema according to order in docs.

PiperOrigin-RevId: 607272771
Change-Id: Ifd1220671a59effd0a841babbe746dd23d02eefd
---
 doc/XMLschema.rst            | 52 ++++++++++++++++++------------------
 src/xml/xml_native_reader.cc | 10 +++----
 2 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 143fc733..6bd56fcf 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -135,32 +135,6 @@
 | :ref:`asset<asset>`                |    |                                                                                                                                                                                                                                                                              |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
-| :ref:`texture                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
-| <asset-texture>`                   |    |                                                                                                                                                                                                                                                                              |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<asset-texture-name>`                                 | :ref:`type<asset-texture-type>`                                 | :ref:`content_type<asset-texture-content_type>`                 | :ref:`file<asset-texture-file>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`gridsize<asset-texture-gridsize>`                         | :ref:`gridlayout<asset-texture-gridlayout>`                     | :ref:`fileright<asset-texture-fileright>`                       | :ref:`fileleft<asset-texture-fileleft>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`fileup<asset-texture-fileup>`                             | :ref:`filedown<asset-texture-filedown>`                         | :ref:`filefront<asset-texture-filefront>`                       | :ref:`fileback<asset-texture-fileback>`                         | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`builtin<asset-texture-builtin>`                           | :ref:`rgb1<asset-texture-rgb1>`                                 | :ref:`rgb2<asset-texture-rgb2>`                                 | :ref:`mark<asset-texture-mark>`                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`markrgb<asset-texture-markrgb>`                           | :ref:`random<asset-texture-random>`                             | :ref:`width<asset-texture-width>`                               | :ref:`height<asset-texture-height>`                             | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`hflip<asset-texture-hflip>`                               | :ref:`vflip<asset-texture-vflip>`                               |                                                                 |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
-| :ref:`hfield                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
-| <asset-hfield>`                    |    |                                                                                                                                                                                                                                                                              |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`name<asset-hfield-name>`                                  | :ref:`content_type<asset-hfield-content_type>`                  | :ref:`file<asset-hfield-file>`                                  | :ref:`nrow<asset-hfield-nrow>`                                  | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ncol<asset-hfield-ncol>`                                  | :ref:`size<asset-hfield-size>`                                  | :ref:`elevation<asset-hfield-elevation>`                        |                                                                 | |
-|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`mesh                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <asset-mesh>`                      |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
@@ -186,6 +160,15 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`hfield                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <asset-hfield>`                    |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<asset-hfield-name>`                                  | :ref:`content_type<asset-hfield-content_type>`                  | :ref:`file<asset-hfield-file>`                                  | :ref:`nrow<asset-hfield-nrow>`                                  | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`ncol<asset-hfield-ncol>`                                  | :ref:`size<asset-hfield-size>`                                  | :ref:`elevation<asset-hfield-elevation>`                        |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`skin                         | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <asset-skin>`                      |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
@@ -206,6 +189,23 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`texture                      | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <asset-texture>`                   |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`name<asset-texture-name>`                                 | :ref:`type<asset-texture-type>`                                 | :ref:`content_type<asset-texture-content_type>`                 | :ref:`file<asset-texture-file>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`gridsize<asset-texture-gridsize>`                         | :ref:`gridlayout<asset-texture-gridlayout>`                     | :ref:`fileright<asset-texture-fileright>`                       | :ref:`fileleft<asset-texture-fileleft>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`fileup<asset-texture-fileup>`                             | :ref:`filedown<asset-texture-filedown>`                         | :ref:`filefront<asset-texture-filefront>`                       | :ref:`fileback<asset-texture-fileback>`                         | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`builtin<asset-texture-builtin>`                           | :ref:`rgb1<asset-texture-rgb1>`                                 | :ref:`rgb2<asset-texture-rgb2>`                                 | :ref:`mark<asset-texture-mark>`                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`markrgb<asset-texture-markrgb>`                           | :ref:`random<asset-texture-random>`                             | :ref:`width<asset-texture-width>`                               | :ref:`height<asset-texture-height>`                             | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`hflip<asset-texture-hflip>`                               | :ref:`vflip<asset-texture-vflip>`                               |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_| asset |br| |_| |L|             |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`material                     | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <asset-material>`                  |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index f7eb37c0..39acdb18 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -215,11 +215,6 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
 
     {"asset", "*", "0"},
     {"<"},
-        {"texture", "*", "22", "name", "type", "content_type", "file", "gridsize", "gridlayout",
-            "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
-            "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
-            "hflip", "vflip"},
-        {"hfield", "*", "7", "name", "content_type", "file", "nrow", "ncol", "size", "elevation"},
         {"mesh", "*", "12", "name", "class", "content_type", "file", "vertex", "normal",
             "texcoord", "face", "refpos", "refquat", "scale", "smoothnormal"},
         {"<"},
@@ -228,11 +223,16 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
             {"config", "*", "2", "key", "value"},
           {">"},
         {">"},
+        {"hfield", "*", "7", "name", "content_type", "file", "nrow", "ncol", "size", "elevation"},
         {"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
             "vertex", "texcoord", "face", "group"},
         {"<"},
             {"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
         {">"},
+        {"texture", "*", "22", "name", "type", "content_type", "file", "gridsize", "gridlayout",
+            "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
+            "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
+            "hflip", "vflip"},
         {"material", "*", "10", "name", "class", "texture",  "texrepeat", "texuniform",
             "emission", "specular", "shininess", "reflectance", "rgba"},
     {">"},