- Declare every nonzero default; make the defaults cross-check total.
- Skip default-valued attributes in the hand-written writer paths.
- Fix type facts on hand-read elements, found by the dm_control diff.
PiperOrigin-RevId: 958999733
Change-Id: I3064ccc6ae1f049c20f273abc234cd02990a8b7e
- Declare the full child lists of the body-alias elements.
- Verify read-table coverage: every generated row array must be consumed.
- Fix stale attribute facts on hand-read elements.
PiperOrigin-RevId: 958685667
Change-Id: I4a914f3136a5078eb8ca24aa4e162d55afafd923
Every mechanical attribute read in MJCF now derives from mjcf.schema.
generate_read_table.py emits typed mjXAttr rows (mjcf_read_table.inc,
doc_test-gated) binding each attribute to its spec struct field; field
offsets are offsetof() expressions, so binding mistakes are compile
errors, and the field's C type -- parsed from the headers -- selects the
row kind, so mjtNum-versus-double is decided by the struct, not the
schema. mjXReader::ReadAttrTable is the generic loop; its static core
also serves the section parsers and records XML-authored fields via
mjs_setAuthored for attach conflict resolution. Row kinds cover
strings, string lists, numeric scalars and vectors (exact and ranged),
enums (int- and byte-width), bitwise flag sets, bools, unbounded typed
vectors, fixed char arrays, and identity constants declared by 'set'.
The rows are inline variables, and carry the writing=custom flag,
because the writer will share them.
The keyword maps the rows reference are generated too: the ~48
hand-written mjMap tables become mjcf_map.h, one map and size constant
per enum as C++17 inline variables, retiring the hand-maintained
extern block in xml_base.h. Map names follow the schema enum names
(fluid->fluidshape, TFAuto->FalseTrueAuto, FAuto->FalseAuto,
joint->jointtype, geom->geomtype, jac->jacobian); all maps are
key-order- and value-identical to the hand tables they replace, and
bool_map is hand-emitted (the bool type is built in, not a schema
enum).
The OneX() parsers reduce to genuine irregulars, schema-marked as
reading=custom: orientation alternatives, file attributes (VFS and
asset-dir context), the actuator shorthand remappings and per-type
input maps, springlength's one-value copy, mesh builtin construction,
hfield elevation, texture cube files, flexcomp seeding, the memory
suffix parse, and the flag bit families. All 41 sensors that are pure
identity-plus-references -- including the frame family and insidesite
-- dispatch through a generated tag table; frame-sensor
objtype/reftype vocabulary tightens from the full mju_str2Type
namespace to the documented body/xbody/geom/site/camera subset, so an
invalid keyword now fails at parse time instead of compile time. The
equality family and both tendon types read shared group rows; the
twelve actuator shorthands share the general rows, with per-tag
legality enforced by the schema check. Sections bind non-mjs structs,
the visual sub-sections reaching their anonymous sub-structs through
member paths declared by an element-level field= facet.
Latent irregularities surfaced by the migration and preserved via
schema declarations or remnants: key's name is set even when absent,
eulerseq and gridlayout are fixed char arrays (chars[n], arity in
characters), gridlayout's length-must-match-gridsize stays a
value-conditional remnant, and constructor-style elements (tendon
wraps, asset model, replicate, attach) are annotated as such -- their
attributes are arguments, not field writes.
Two coherence tests guard the schema against the C sources: every
schema enum constant must be a member of the C enum it claims, and
every C member must be a keyword, a count sentinel, or a documented
exemption; and generate_default_table.py emits one row per defaulted
attribute (mjcf_default_table.inc), compared by SchemaDefaultsTest
against a freshly-constructed spec -- the schema cannot disagree with
the C default-constructors without failing the suite.
Verified: doc_test regenerates and diffs every artifact; the full
suite; and an A/B harness compiling the model corpus against the
pre-migration reader -- saved XML and binary models are byte-identical.
PiperOrigin-RevId: 958075724
Change-Id: I9715fe4deeb438eec988fd5084d74ba8b466b10b
The hand-written MJCF[] table in xml_native_reader.cc is replaced by
mjcf_table.inc, emitted from mjcf.schema by generate_mjcf_table.py and
checked for freshness by doc_test. nMJCF is now self-sizing. The two
tables are identical as trees of (tag, cardinality, attribute-set);
within-row attribute order changes where the schema factors shared
groups and projects default-context rows, and top-level rows follow
the schema's dependency order -- neither affects validation, which is
set-based, nor XMLschema.rst, whose generator orders sections itself
(regenerated here, reading the .inc instead of the reader source).
The schema's constraint declarations become enforcement: the emitter
writes a companion MJCF_constraints[] array (row-indexed into MJCF[]),
and mjXSchema::Check evaluates each element's constraints after its
attribute check, with uniform messages derived from the declaration:
"at most one of 'fovy', 'sensorsize' can be specified", "attributes
'reftype', 'refname' must be specified together", and so on.
Multi-attribute bundles render as ('site1', 'site2').
Fifteen hand-written co-occurrence checks across fourteen elements are
deleted -- connect/weld semantics mixing and completeness, the actuator
transmission mutex, camera fovy/sensorsize, light directional/type,
inertial fullinertia-versus-orientation, rangefinder and the distance
family, contact's matching criteria, user-sensor pairing, the frame
family's reftype/refname, size memory exclusivities, mesh builtin
exclusions, and attach body/frame (newly declared). Tests assert the
uniform messages.
Two findings along the way: sensorsize-requires-resolution is a
value-level compiler rule (positive resolution), not a presence rule --
a presence constraint would be wrong and is not declared; and Size()'s
nstack/njmax range checks tested the spec value before assignment, so
they never validated the parsed value -- now they do.
Verified by compiling all 81 models in the model/ corpus.
PiperOrigin-RevId: 958064622
Change-Id: I802cf5c0aee08a62926e36a281320ff9e34c0668
The complete MJCF surface in one hand-maintained file: 144 elements, 8
shared attribute groups, 47 enums, 1,497 typed attributes with
defaults, the presence-constraint inventory previously visible only as
hand-written reader checks, and the save policies previously visible
only as hand-written writer logic.
The language is a small IDL: elements bound to their mjSpec structs,
typed attributes with arities and defaults, enum keyword sets with C
bindings, reusable and variant groups, explicit name/reference
namespaces (id<ns>/ref<ns>, following dm_control's
identifier/reference model), child cardinalities, presence constraints
(exclusive/together/requires/oneof over attribute bundles), bitwise
flag sets, identity constants (set field = CONST), fixed char arrays
(chars[n], arity counting characters), numeric range facets, and two
escape hatches: reading=custom (no typed binding is generated; both
reading and saving are hand-written) and writing=custom (the binding
drives the reader, the save policy is hand-written).
doc/generate/mjcf_schema.py is the dependency-free parser and semantic
validator; errors report file:line; 55 unit tests. The language is
documented by the cheat-sheet legend at the top of the schema file.
The schema was bootstrapped by extraction from the sources of record --
the MJCF[] table, the mjMap keyword tables, the ~660 ReadAttr*/MapValue
call sites, mjspec.h struct fields, and the default-constructors in
user_init.c and engine_init.c -- then hand-curated. Same-tag elements
that differ by context are distinct declarations carrying an xml=
facet; worldbody, frame and replicate carry alias=body, mirroring
mjXSchema::NameMatch. The top-level order is by dependency, what a
saved file should read like: front matter, declarations before use,
the tree, the sections that reference it, the data tail.
PiperOrigin-RevId: 958060695
Change-Id: Ie10fd9f0ef202a3626f4d635d02c8731a4d287df
Yuval Tassa