Yuval Tassa
3f8db4c17a
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
24 lines
992 B
CMake
24 lines
992 B
CMake
# Copyright 2026 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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find_package(Python3 COMPONENTS Interpreter)
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if(Python3_FOUND)
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add_test(NAME doc_test
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COMMAND Python3::Interpreter ${CMAKE_CURRENT_SOURCE_DIR}/doc_test.py
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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add_test(NAME mjcf_schema_test
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COMMAND Python3::Interpreter ${CMAKE_CURRENT_SOURCE_DIR}/mjcf_schema_test.py
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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endif()
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