Yuval Tassa
4278c7b0cd
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
117 lines
3.7 KiB
Python
117 lines
3.7 KiB
Python
# 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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# http://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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# ==============================================================================
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"""Generates the keyword-map header from src/xml/mjcf.schema.
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Emits src/xml/mjcf_map.h: one mjMap array and size constant per schema
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enum, as C++17 inline variables, so the reader, the writer and the
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generated tables share one definition with no extern declarations to
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maintain. It is checked in and gated by test/doc/doc_test.py, which
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regenerates it from the schema and diffs.
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"""
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import os
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import sys
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_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
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sys.path.insert(0, _SCRIPT_DIR)
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import mjcf_schema
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_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
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SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
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_GUARD = 'MUJOCO_SRC_XML_MJCF_MAP_H_'
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_INCLUDES = '''\
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#include <mujoco/mjspec.h>
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#include <mujoco/mjtype.h>
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#include "user/user_composite.h"
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#include "user/user_flexcomp.h"
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#include "xml/xml_util.h"'''
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_HEADER = f'''\
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// 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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// http://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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// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
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// doc/generate/generate_mjcf_map.py; test/doc/doc_test.py checks freshness.
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//
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// Keyword maps, one per schema enum, shared by the reader, the writer and
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// the generated tables. Inline variables: including this header is all a
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// translation unit needs.
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#ifndef HEADER_GUARD_PLACEHOLDER
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#define HEADER_GUARD_PLACEHOLDER
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{_INCLUDES}
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// clang-format off
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// keywords of the built-in bool type (not a schema enum)
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inline constexpr mjMap bool_map[] = {{
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{{"false", 0}},
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{{"true", 1}},
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}};
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'''
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_FOOTER = '''\
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// clang-format on
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#endif // HEADER_GUARD_PLACEHOLDER
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'''
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def generate() -> str:
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schema = mjcf_schema.parse_file(SCHEMA_PATH)
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out = []
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for enum in schema.enums.values():
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width = max(len(key) for key in enum.keywords()) + 3
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out.append(f'// enum {enum.name}')
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out.append(f'inline constexpr mjMap {enum.name}_map[] = {{')
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for key, value in enum.items:
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padded = f'"{key}",'.ljust(width + 1)
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out.append(f' {{{padded} {value}}},')
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out.append('};')
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out.append(f'inline constexpr int {enum.name}_sz = {len(enum.items)};')
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out.append('')
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header = _HEADER.replace('HEADER_GUARD_PLACEHOLDER', _GUARD)
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footer = _FOOTER.replace('HEADER_GUARD_PLACEHOLDER', _GUARD)
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return header + '\n'.join(out) + footer
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def main() -> int:
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if len(sys.argv) > 2:
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sys.exit('usage: generate_mjcf_map.py [output.h]')
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text = generate()
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if len(sys.argv) == 2:
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with open(sys.argv[1], 'w', encoding='utf-8') as file:
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file.write(text)
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else:
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sys.stdout.write(text)
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return 0
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if __name__ == '__main__':
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sys.exit(main())
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