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Keep include elements while parsing XML. No change in behavior.

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PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
This commit is contained in:
Kyle Bayes
2024-02-12 03:53:56 -08:00
committed by Copybara-Service
parent 4e5b194e88
commit ff39d0b812
5 changed files with 460 additions and 365 deletions
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src/xml/xml_native_reader.cc
+98 -96
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@@ -27,9 +27,12 @@
#include <utility>
#include <vector>
#include <mujoco/mjmacro.h>
#include "tinyxml2.h"
#include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mjtnum.h>
#include "engine/engine_plugin.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
@@ -41,7 +44,6 @@
#include "user/user_util.h"
#include "xml/xml_base.h"
#include "xml/xml_util.h"
#include "tinyxml2.h"
namespace {
using std::string;
@@ -50,7 +52,7 @@ using tinyxml2::XMLElement;
void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
std::map<std::string, std::string, std::less<>> config_attribs;
XMLElement* child = elem->FirstChildElement();
XMLElement* child = FirstChildElement(elem);
while (child) {
std::string_view name = child->Value();
if (name == "config") {
@@ -63,7 +65,7 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
mjXUtil::ReadAttrTxt(child, "value", value, /* required = */ true);
config_attribs[key] = value;
}
child = child->NextSiblingElement();
child = NextSiblingElement(child);
}
if (!pp && !config_attribs.empty()) {
@@ -822,92 +824,92 @@ void mjXReader::Parse(XMLElement* root) {
//------------------- parse MuJoCo sections embedded in all XML formats
for (XMLElement* section = root->FirstChildElement("compiler"); section;
section = section->NextSiblingElement("compiler")) {
for (XMLElement* section = FirstChildElement(root, "compiler"); section;
section = NextSiblingElement(section, "compiler")) {
Compiler(section, model);
}
for (XMLElement* section = root->FirstChildElement("option"); section;
section = section->NextSiblingElement("option")) {
for (XMLElement* section = FirstChildElement(root, "option"); section;
section = NextSiblingElement(section, "option")) {
Option(section, &model->option);
}
for (XMLElement* section = root->FirstChildElement("size"); section;
section = section->NextSiblingElement("size")) {
for (XMLElement* section = FirstChildElement(root, "size"); section;
section = NextSiblingElement(section, "size")) {
Size(section, model);
}
//------------------ parse MJCF-specific sections
for (XMLElement* section = root->FirstChildElement("visual"); section;
section = section->NextSiblingElement("visual")) {
for (XMLElement* section = FirstChildElement(root, "visual"); section;
section = NextSiblingElement(section, "visual")) {
Visual(section);
}
for (XMLElement* section = root->FirstChildElement("statistic"); section;
section = section->NextSiblingElement("statistic")) {
for (XMLElement* section = FirstChildElement(root, "statistic"); section;
section = NextSiblingElement(section, "statistic")) {
Statistic(section);
}
readingdefaults = true;
for (XMLElement* section = root->FirstChildElement("default"); section;
section = section->NextSiblingElement("default")) {
for (XMLElement* section = FirstChildElement(root, "default"); section;
section = NextSiblingElement(section, "default")) {
Default(section, -1);
}
readingdefaults = false;
for (XMLElement* section = root->FirstChildElement("extension"); section;
section = section->NextSiblingElement("extension")) {
for (XMLElement* section = FirstChildElement(root, "extension"); section;
section = NextSiblingElement(section, "extension")) {
Extension(section);
}
for (XMLElement* section = root->FirstChildElement("custom"); section;
section = section->NextSiblingElement("custom")) {
for (XMLElement* section = FirstChildElement(root, "custom"); section;
section = NextSiblingElement(section, "custom")) {
Custom(section);
}
for (XMLElement* section = root->FirstChildElement("asset"); section;
section = section->NextSiblingElement("asset")) {
for (XMLElement* section = FirstChildElement(root, "asset"); section;
section = NextSiblingElement(section, "asset")) {
Asset(section);
}
for (XMLElement* section = root->FirstChildElement("worldbody"); section;
section = section->NextSiblingElement("worldbody")) {
for (XMLElement* section = FirstChildElement(root, "worldbody"); section;
section = NextSiblingElement(section, "worldbody")) {
Body(section, &model->GetWorld()->spec, nullptr);
}
for (XMLElement* section = root->FirstChildElement("contact"); section;
section = section->NextSiblingElement("contact")) {
for (XMLElement* section = FirstChildElement(root, "contact"); section;
section = NextSiblingElement(section, "contact")) {
Contact(section);
}
for (XMLElement* section = root->FirstChildElement("deformable"); section;
section = section->NextSiblingElement("deformable")) {
for (XMLElement* section = FirstChildElement(root, "deformable"); section;
section = NextSiblingElement(section, "deformable")) {
Deformable(section);
}
for (XMLElement* section = root->FirstChildElement("equality"); section;
section = section->NextSiblingElement("equality")) {
for (XMLElement* section = FirstChildElement(root, "equality"); section;
section = NextSiblingElement(section, "equality")) {
Equality(section);
}
for (XMLElement* section = root->FirstChildElement("tendon"); section;
section = section->NextSiblingElement("tendon")) {
for (XMLElement* section = FirstChildElement(root, "tendon"); section;
section = NextSiblingElement(section, "tendon")) {
Tendon(section);
}
for (XMLElement* section = root->FirstChildElement("actuator"); section;
section = section->NextSiblingElement("actuator")) {
for (XMLElement* section = FirstChildElement(root, "actuator"); section;
section = NextSiblingElement(section, "actuator")) {
Actuator(section);
}
for (XMLElement* section = root->FirstChildElement("sensor"); section;
section = section->NextSiblingElement("sensor")) {
for (XMLElement* section = FirstChildElement(root, "sensor"); section;
section = NextSiblingElement(section, "sensor")) {
Sensor(section);
}
for (XMLElement* section = root->FirstChildElement("keyframe"); section;
section = section->NextSiblingElement("keyframe")) {
for (XMLElement* section = FirstChildElement(root, "keyframe"); section;
section = NextSiblingElement(section, "keyframe")) {
Keyframe(section);
}
}
@@ -1044,7 +1046,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
text, false, false);
for (int i=0; i < num_found; i++) {
int group = disabled_act_groups[i];
if (group < 0 ) {
if (group < 0) {
throw mjXError(section, "disabled actuator group value must be non-negative");
}
if (group > num_bitflags - 1) {
@@ -1057,7 +1059,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
XMLElement* elem = FindSubElem(section, "flag");
if (elem) {
#define READDSBL(NAME, MASK) \
if( MapValue(elem, NAME, &n, enable_map, 2) ) { \
if (MapValue(elem, NAME, &n, enable_map, 2)) { \
opt->disableflags ^= (opt->disableflags & MASK); \
opt->disableflags |= (n ? 0 : MASK); }
@@ -1079,7 +1081,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
#undef READDSBL
#define READENBL(NAME, MASK) \
if( MapValue(elem, NAME, &n, enable_map, 2) ) { \
if (MapValue(elem, NAME, &n, enable_map, 2)) { \
opt->enableflags ^= (opt->enableflags & MASK); \
opt->enableflags |= (n ? MASK : 0); }
@@ -1303,7 +1305,7 @@ void mjXReader::OneFlex(XMLElement* elem, mjCFlex* pflex) {
}
// contact subelement
XMLElement* cont = elem->FirstChildElement("contact");
XMLElement* cont = FirstChildElement(elem, "contact");
if (cont) {
ReadAttrInt(cont, "contype", &pflex->contype);
ReadAttrInt(cont, "conaffinity", &pflex->conaffinity);
@@ -1323,7 +1325,7 @@ void mjXReader::OneFlex(XMLElement* elem, mjCFlex* pflex) {
}
// edge subelement
XMLElement* edge = elem->FirstChildElement("edge");
XMLElement* edge = FirstChildElement(elem, "edge");
if (edge) {
ReadAttr(edge, "stiffness", 1, &pflex->edgestiffness, text);
ReadAttr(edge, "damping", 1, &pflex->edgedamping, text);
@@ -1348,7 +1350,7 @@ void mjXReader::OneMesh(XMLElement* elem, mjCMesh* pmesh) {
pmesh->set_refquat(ReadAttrArr<double, 4>(elem, "refquat"));
pmesh->set_scale(ReadAttrArr<double, 3>(elem, "scale"));
XMLElement* eplugin = elem->FirstChildElement("plugin");
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
OnePlugin(eplugin, &pmesh->plugin);
}
@@ -1400,7 +1402,7 @@ void mjXReader::OneSkin(XMLElement* elem, mjCSkin* pskin) {
if (ReadAttrTxt(elem, "face", text)) String2Vector(text, pskin->face);
// read bones
XMLElement* bone = elem->FirstChildElement("bone");
XMLElement* bone = FirstChildElement(elem, "bone");
while (bone) {
// read body
ReadAttrTxt(bone, "body", text, true);
@@ -1432,7 +1434,7 @@ void mjXReader::OneSkin(XMLElement* elem, mjCSkin* pskin) {
pskin->vertweight.push_back(tempweight);
// advance to next bone
bone = bone->NextSiblingElement("bone");
bone = NextSiblingElement(bone, "bone");
}
GetXMLPos(elem, pskin);
@@ -1571,7 +1573,7 @@ void mjXReader::OneGeom(XMLElement* elem, mjmGeom* pgeom) {
}
// plugin sub-element
XMLElement* eplugin = elem->FirstChildElement("plugin");
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
OnePlugin(eplugin, &pgeom->plugin);
}
@@ -2180,7 +2182,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
ReadAttr(elem, "flatinertia", 1, &comp.flatinertia, text);
// plugin
XMLElement* eplugin = elem->FirstChildElement("plugin");
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
ReadAttrTxt(eplugin, "plugin", comp.plugin_name);
ReadAttrTxt(eplugin, "instance", comp.plugin_instance_name);
@@ -2221,7 +2223,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
};
// skin
XMLElement* eskin = elem->FirstChildElement("skin");
XMLElement* eskin = FirstChildElement(elem, "skin");
if (eskin) {
comp.skin = true;
if (MapValue(eskin, "texcoord", &n, bool_map, 2)) {
@@ -2245,7 +2247,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
ReadAttr(elem, "solimpsmooth", mjNIMP, comp.solimpsmooth, text, false, false);
// geom
XMLElement* egeom = elem->FirstChildElement("geom");
XMLElement* egeom = FirstChildElement(elem, "geom");
if (egeom) {
std::string material;
mjmGeom& dgeom = comp.def[0].geom.spec;
@@ -2273,7 +2275,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
}
// site
XMLElement* esite = elem->FirstChildElement("site");
XMLElement* esite = FirstChildElement(elem, "site");
if (esite) {
std::string material;
mjmSite& dsite = comp.def[0].site.spec;
@@ -2285,7 +2287,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
}
// joint
XMLElement* ejnt = elem->FirstChildElement("joint");
XMLElement* ejnt = FirstChildElement(elem, "joint");
while (ejnt) {
// kind
int kind;
@@ -2330,11 +2332,11 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
ReadAttr(ejnt, "frictionloss", 1, &el->joint.spec.frictionloss, text);
// advance
ejnt = ejnt->NextSiblingElement("joint");
ejnt = NextSiblingElement(ejnt, "joint");
}
// tendon
XMLElement* eten = elem->FirstChildElement("tendon");
XMLElement* eten = FirstChildElement(elem, "tendon");
while (eten) {
// kind
int kind;
@@ -2366,11 +2368,11 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
ReadAttr(eten, "width", 1, &comp.def[kind].tendon.spec.width, text);
// advance
eten = eten->NextSiblingElement("tendon");
eten = NextSiblingElement(eten, "tendon");
}
// pin
XMLElement* epin = elem->FirstChildElement("pin");
XMLElement* epin = FirstChildElement(elem, "pin");
while (epin) {
// read
int coord[2] = {0, 0};
@@ -2381,7 +2383,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
comp.pin.push_back(coord[1]);
// advance
epin = epin->NextSiblingElement("pin");
epin = NextSiblingElement(epin, "pin");
}
// make composite
@@ -2444,7 +2446,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
}
// edge
XMLElement* edge = elem->FirstChildElement("edge");
XMLElement* edge = FirstChildElement(elem, "edge");
if (edge) {
if (MapValue(edge, "equality", &n, bool_map, 2)) {
fcomp.equality = (n==1);
@@ -2456,7 +2458,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
}
// contact
XMLElement* cont = elem->FirstChildElement("contact");
XMLElement* cont = FirstChildElement(elem, "contact");
if (cont) {
ReadAttrInt(cont, "contype", &fcomp.def.flex.contype);
ReadAttrInt(cont, "conaffinity", &fcomp.def.flex.conaffinity);
@@ -2476,7 +2478,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
}
// pin
XMLElement* epin = elem->FirstChildElement("pin");
XMLElement* epin = FirstChildElement(elem, "pin");
while (epin) {
// accumulate id, coord, range
vector<int> temp;
@@ -2498,11 +2500,11 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
}
// advance
epin = epin->NextSiblingElement("pin");
epin = NextSiblingElement(epin, "pin");
}
// plugin
XMLElement* eplugin = elem->FirstChildElement("plugin");
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
ReadAttrTxt(eplugin, "plugin", fcomp.plugin_name);
ReadAttrTxt(eplugin, "instance", fcomp.plugin_instance_name);
@@ -2579,7 +2581,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
}
// iterate over elements other than nested defaults
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get element name
name = elem->Value();
@@ -2639,11 +2641,11 @@ void mjXReader::Default(XMLElement* section, int parentid) {
mjm_finalize(def->tendon.spec.element);
// advance
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
// iterate over nested defaults
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get element name
name = elem->Value();
@@ -2654,7 +2656,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
}
// advance
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -2662,7 +2664,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
// extension section parser
void mjXReader::Extension(XMLElement* section) {
XMLElement* elem = section->FirstChildElement();
XMLElement* elem = FirstChildElement(section);
while (elem) {
// get sub-element name
std::string_view name = elem->Value();
@@ -2687,7 +2689,7 @@ void mjXReader::Extension(XMLElement* section) {
model->active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
}
XMLElement* child = elem->FirstChildElement();
XMLElement* child = FirstChildElement(elem);
while (child) {
if (std::string(child->Value())=="instance") {
if (model->hasImplicitPluginElem) {
@@ -2704,12 +2706,12 @@ void mjXReader::Extension(XMLElement* section) {
pp->plugin_slot = plugin_slot;
pp->nstate = -1; // actual value to be filled in by the plugin later
}
child = child->NextSiblingElement();
child = NextSiblingElement(child);
}
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -2722,7 +2724,7 @@ void mjXReader::Custom(XMLElement* section) {
double data[500];
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
@@ -2784,7 +2786,7 @@ void mjXReader::Custom(XMLElement* section) {
ReadAttrTxt(elem, "name", ptu->name, true);
// read objects and add
XMLElement* obj = elem->FirstChildElement();
XMLElement* obj = FirstChildElement(elem);
while (obj) {
// get sub-element name
name = obj->Value();
@@ -2810,12 +2812,12 @@ void mjXReader::Custom(XMLElement* section) {
}
// advance to next object
obj = obj->NextSiblingElement();
obj = NextSiblingElement(obj);
}
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -2828,7 +2830,7 @@ void mjXReader::Visual(XMLElement* section) {
mjVisual* vis = &model->visual;
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
@@ -2946,7 +2948,7 @@ void mjXReader::Visual(XMLElement* section) {
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -2959,7 +2961,7 @@ void mjXReader::Asset(XMLElement* section) {
XMLElement* elem;
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
@@ -3091,7 +3093,7 @@ void mjXReader::Asset(XMLElement* section) {
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -3114,7 +3116,7 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
}
// iterate over sub-elements; attributes set while parsing parent body
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
@@ -3291,7 +3293,7 @@ void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -3303,7 +3305,7 @@ void mjXReader::Contact(XMLElement* section) {
XMLElement* elem;
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
@@ -3333,7 +3335,7 @@ void mjXReader::Contact(XMLElement* section) {
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -3344,7 +3346,7 @@ void mjXReader::Equality(XMLElement* section) {
XMLElement* elem;
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
@@ -3357,7 +3359,7 @@ void mjXReader::Equality(XMLElement* section) {
OneEquality(elem, pequality);
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -3369,7 +3371,7 @@ void mjXReader::Deformable(XMLElement* section) {
XMLElement* elem;
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
@@ -3395,7 +3397,7 @@ void mjXReader::Deformable(XMLElement* section) {
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -3408,7 +3410,7 @@ void mjXReader::Tendon(XMLElement* section) {
double data;
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
@@ -3421,7 +3423,7 @@ void mjXReader::Tendon(XMLElement* section) {
OneTendon(elem, pten);
// process wrap sub-elements
XMLElement* sub = elem->FirstChildElement();
XMLElement* sub = FirstChildElement(elem);
while (sub) {
// get wrap type
string wrap = sub->Value();
@@ -3459,11 +3461,11 @@ void mjXReader::Tendon(XMLElement* section) {
mjm_setString(pwrap->info, ("line = " + std::to_string(sub->GetLineNum())).c_str());
// advance to next sub-element
sub = sub->NextSiblingElement();
sub = NextSiblingElement(sub);
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -3474,7 +3476,7 @@ void mjXReader::Actuator(XMLElement* section) {
XMLElement* elem;
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
@@ -3487,7 +3489,7 @@ void mjXReader::Actuator(XMLElement* section) {
OneActuator(elem, pact);
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -3496,7 +3498,7 @@ void mjXReader::Actuator(XMLElement* section) {
// sensor section parser
void mjXReader::Sensor(XMLElement* section) {
int n;
XMLElement* elem = section->FirstChildElement();
XMLElement* elem = FirstChildElement(section);
while (elem) {
// create sensor, get string type
mjmSensor* psen = mjm_addSensor(model);
@@ -3799,7 +3801,7 @@ void mjXReader::Sensor(XMLElement* section) {
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}
@@ -3813,7 +3815,7 @@ void mjXReader::Keyframe(XMLElement* section) {
double data[1000];
// iterate over child elements
elem = section->FirstChildElement();
elem = FirstChildElement(section);
while (elem) {
// add keyframe
mjCKey* pk = model->AddKey();
@@ -3865,7 +3867,7 @@ void mjXReader::Keyframe(XMLElement* section) {
}
// advance to next element
elem = elem->NextSiblingElement();
elem = NextSiblingElement(elem);
}
}