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Mujoco_WASM/src/xml/xml_native_reader.cc
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Kyle Bayes ff39d0b812 Keep include elements while parsing XML. No change in behavior. 
PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
2024-02-12 03:54:44 -08:00

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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "xml/xml_native_reader.h"
#include <cstddef>
#include <cstdio>
#include <cstring>
#include <functional>
#include <limits>
#include <map>
#include <optional>
#include <sstream>
#include <string>
#include <string_view>
#include <utility>
#include <vector>
#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"
#include "user/user_api.h"
#include "user/user_composite.h"
#include "user/user_flexcomp.h"
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_util.h"
#include "xml/xml_base.h"
#include "xml/xml_util.h"
namespace {
using std::string;
using std::vector;
using tinyxml2::XMLElement;
void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
std::map<std::string, std::string, std::less<>> config_attribs;
XMLElement* child = FirstChildElement(elem);
while (child) {
std::string_view name = child->Value();
if (name == "config") {
std::string key, value;
mjXUtil::ReadAttrTxt(child, "key", key, /* required = */ true);
if (config_attribs.find(key) != config_attribs.end()) {
std::string err = "duplicate config key: " + key;
throw mjXError(child, "%s", err.c_str());
}
mjXUtil::ReadAttrTxt(child, "value", value, /* required = */ true);
config_attribs[key] = value;
}
child = NextSiblingElement(child);
}
if (!pp && !config_attribs.empty()) {
throw mjXError(elem,
"plugin configuration attributes cannot be used in an "
"element that references a predefined plugin instance");
} else if (pp) {
pp->config_attribs = std::move(config_attribs);
}
}
} // namespace
//---------------------------------- MJCF schema ---------------------------------------------------
static const int nMJCF = 227;
static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
{"compiler", "*", "20", "autolimits", "boundmass", "boundinertia", "settotalmass",
"balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
"meshdir", "texturedir", "discardvisual", "convexhull", "usethread",
"fusestatic", "inertiafromgeom", "inertiagrouprange", "exactmeshinertia",
"assetdir"},
{"<"},
{"lengthrange", "?", "10", "mode", "useexisting", "uselimit",
"accel", "maxforce", "timeconst", "timestep",
"inttotal", "interval", "tolrange"},
{">"},
{"option", "*", "27",
"timestep", "apirate", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
"mpr_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
"o_margin", "o_solref", "o_solimp", "o_friction",
"integrator", "cone", "jacobian",
"solver", "iterations", "ls_iterations", "noslip_iterations", "mpr_iterations",
"sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
{"<"},
{"flag", "?", "22", "constraint", "equality", "frictionloss", "limit", "contact",
"passive", "gravity", "clampctrl", "warmstart",
"filterparent", "actuation", "refsafe", "sensor", "midphase", "eulerdamp",
"override", "energy", "fwdinv", "invdiscrete", "sensornoise", "multiccd", "island"},
{">"},
{"size", "*", "14", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey",
"nuser_body", "nuser_jnt", "nuser_geom", "nuser_site", "nuser_cam",
"nuser_tendon", "nuser_actuator", "nuser_sensor"},
{"visual", "*", "0"},
{"<"},
{"global", "?", "11", "fovy", "ipd", "azimuth", "elevation", "linewidth", "glow",
"offwidth", "offheight", "realtime", "ellipsoidinertia", "bvactive"},
{"quality", "?", "5", "shadowsize", "offsamples", "numslices", "numstacks",
"numquads"},
{"headlight", "?", "4", "ambient", "diffuse", "specular", "active"},
{"map", "?", "13", "stiffness", "stiffnessrot", "force", "torque", "alpha",
"fogstart", "fogend", "znear", "zfar", "haze", "shadowclip", "shadowscale",
"actuatortendon"},
{"scale", "?", "17", "forcewidth", "contactwidth", "contactheight", "connect", "com",
"camera", "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength",
"actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
{"rgba", "?", "25", "fog", "haze", "force", "inertia", "joint",
"actuator", "actuatornegative", "actuatorpositive", "com",
"camera", "light", "selectpoint", "connect", "contactpoint", "contactforce",
"contactfriction", "contacttorque", "contactgap", "rangefinder",
"constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"},
{">"},
{"statistic", "*", "5", "meaninertia", "meanmass", "meansize", "extent", "center"},
{"default", "R", "1", "class"},
{"<"},
{"mesh", "?", "1", "scale"},
{"material", "?", "8", "texture", "emission", "specular", "shininess",
"reflectance", "rgba", "texrepeat", "texuniform"},
{"joint", "?", "21", "type", "group", "pos", "axis", "springdamper",
"limited", "actuatorfrclimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorfrcrange",
"margin", "ref", "springref", "armature", "damping", "frictionloss", "user"},
{"geom", "?", "31", "type", "pos", "quat", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density",
"shellinertia", "solmix", "solref", "solimp",
"margin", "gap", "fromto", "axisangle", "xyaxes", "zaxis", "euler",
"hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
{"site", "?", "13", "type", "group", "pos", "quat", "material",
"size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "?", "16", "fovy", "ipd", "resolution", "pos", "quat", "axisangle", "xyaxes",
"zaxis", "euler", "mode", "focal", "focalpixel", "principal", "principalpixel",
"sensorsize", "user"},
{"light", "?", "12", "pos", "dir", "directional", "castshadow", "active",
"attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular", "mode"},
{"pair", "?", "7", "condim", "friction", "solref", "solreffriction", "solimp",
"gap", "margin"},
{"equality", "?", "3", "active", "solref", "solimp"},
{"tendon", "?", "16", "group", "limited", "range",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "width", "material",
"margin", "stiffness", "damping", "rgba", "user"},
{"general", "?", "18", "ctrllimited", "forcelimited", "actlimited", "ctrlrange",
"forcerange", "actrange", "gear", "cranklength", "user", "group", "actdim",
"dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
{"motor", "?", "8", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group"},
{"position", "?", "10", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kp", "kv"},
{"velocity", "?", "9", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kv"},
{"intvelocity", "?", "11", "ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange",
"gear", "cranklength", "user", "group",
"kp", "kv"},
{"damper", "?", "8", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"kv"},
{"cylinder", "?", "12", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"timeconst", "area", "diameter", "bias"},
{"muscle", "?", "17", "ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"gear", "cranklength", "user", "group",
"timeconst", "range", "force", "scale",
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "?", "6", "forcelimited", "ctrlrange", "forcerange",
"gain", "user", "group"},
{">"},
{"extension", "*", "0"},
{"<"},
{"plugin", "*", "1", "plugin"},
{"<"},
{"instance", "*", "1", "name"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{">"},
{"custom", "*", "0"},
{"<"},
{"numeric", "*", "3", "name", "size", "data"},
{"text", "*", "2", "name", "data"},
{"tuple", "*", "1", "name"},
{"<"},
{"element", "*", "3", "objtype", "objname", "prm"},
{">"},
{">"},
{"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"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face", "group"},
{"<"},
{"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
{">"},
{"material", "*", "10", "name", "class", "texture", "texrepeat", "texuniform",
"emission", "specular", "shininess", "reflectance", "rgba"},
{">"},
{"body", "R", "11", "name", "childclass", "pos", "quat", "mocap",
"axisangle", "xyaxes", "zaxis", "euler", "gravcomp", "user"},
{"<"},
{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
{"joint", "*", "23", "name", "class", "type", "group", "pos", "axis",
"springdamper", "limited", "actuatorfrclimited",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"stiffness", "range", "actuatorfrcrange", "margin", "ref", "springref",
"armature", "damping", "frictionloss", "user"},
{"freejoint", "*", "2", "name", "group"},
{"geom", "*", "33", "name", "class", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "friction", "mass", "density",
"shellinertia", "solmix", "solref", "solimp",
"margin", "gap", "fromto", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
"hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{"site", "*", "15", "name", "class", "type", "group", "pos", "quat",
"material", "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "*", "19", "name", "class", "fovy", "ipd", "resolution", "pos", "quat",
"axisangle", "xyaxes", "zaxis", "euler", "mode", "target", "focal", "focalpixel",
"principal", "principalpixel", "sensorsize", "user"},
{"light", "*", "15", "name", "class", "directional", "castshadow", "active",
"pos", "dir", "attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular",
"mode", "target"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{"composite", "*", "13", "prefix", "type", "count", "spacing", "offset",
"flatinertia", "solrefsmooth", "solimpsmooth", "vertex", "face",
"initial", "curve", "size"},
{"<"},
{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix", "type", "axis",
"limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction"},
{"tendon", "*", "17", "kind", "group", "stiffness", "damping",
"solreffix", "solimpfix",
"limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction",
"material", "rgba", "width"},
{"skin", "?", "6", "texcoord", "material", "group", "rgba", "inflate", "subgrid"},
{"geom", "?", "17", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "rgba", "friction", "mass",
"density", "solmix", "solref", "solimp", "margin", "gap"},
{"site", "?", "4", "group", "size", "material", "rgba"},
{"pin", "*", "1", "coord"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{"flexcomp", "*", "24", "name", "type", "group", "dim",
"count", "spacing", "radius", "rigid", "mass", "inertiabox",
"scale", "file", "point", "element", "texcoord", "material", "rgba",
"flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler"},
{"<"},
{"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
{"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers"},
{"pin", "*", "4", "id", "range", "grid", "gridrange"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{">"},
{"deformable", "*", "0"},
{"<"},
{"flex", "*", "11", "name", "group", "dim", "radius", "material",
"rgba", "flatskin", "body", "vertex", "element", "texcoord"},
{"<"},
{"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers"},
{"edge", "?", "2", "stiffness", "damping"},
{">"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face", "group"},
{"<"},
{"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
{">"},
{">"},
{"contact", "*", "0"},
{"<"},
{"pair", "*", "11", "name", "class", "geom1", "geom2", "condim", "friction",
"solref", "solreffriction", "solimp", "gap", "margin"},
{"exclude", "*", "3", "name", "body1", "body2"},
{">"},
{"equality", "*", "0"},
{"<"},
{"connect", "*", "8", "name", "class", "body1", "body2", "anchor",
"active", "solref", "solimp"},
{"weld", "*", "10", "name", "class", "body1", "body2", "relpose", "anchor",
"active", "solref", "solimp", "torquescale"},
{"joint", "*", "8", "name", "class", "joint1", "joint2", "polycoef",
"active", "solref", "solimp"},
{"tendon", "*", "8", "name", "class", "tendon1", "tendon2", "polycoef",
"active", "solref", "solimp"},
{"flex", "*", "6", "name", "class", "flex",
"active", "solref", "solimp"},
{">"},
{"tendon", "*", "0"},
{"<"},
{"spatial", "*", "18", "name", "class", "group", "limited", "range",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "width", "material",
"margin", "stiffness", "damping", "rgba", "user"},
{"<"},
{"site", "*", "1", "site"},
{"geom", "*", "2", "geom", "sidesite"},
{"pulley", "*", "1", "divisor"},
{">"},
{"fixed", "*", "15", "name", "class", "group", "limited", "range",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
"frictionloss", "springlength", "margin", "stiffness", "damping", "user"},
{"<"},
{"joint", "*", "2", "joint", "coef"},
{">"},
{">"},
{"actuator", "*", "0"},
{"<"},
{"general", "*", "29", "name", "class", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"body", "actdim", "dyntype", "gaintype", "biastype", "dynprm", "gainprm", "biasprm",
"actearly"},
{"motor", "*", "18", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite"},
{"position", "*", "20", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv"},
{"velocity", "*", "19", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"},
{"intvelocity", "*", "21", "name", "class", "group",
"ctrllimited", "forcelimited",
"ctrlrange", "forcerange", "actrange", "lengthrange",
"gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kp", "kv"},
{"damper", "*", "18", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"kv"},
{"cylinder", "*", "22", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
"timeconst", "area", "diameter", "bias"},
{"muscle", "*", "26", "name", "class", "group",
"ctrllimited", "forcelimited", "ctrlrange", "forcerange",
"lengthrange", "gear", "cranklength", "user",
"joint", "jointinparent", "tendon", "slidersite", "cranksite",
"timeconst", "tausmooth", "range", "force", "scale",
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "*", "9", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
{"plugin", "*", "24", "name", "class", "plugin", "instance", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "joint", "jointinparent",
"site", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user", "actearly"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{"sensor", "*", "0"},
{"<"},
{"touch", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"accelerometer", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"velocimeter", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"gyro", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"force", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"torque", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"magnetometer", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"camprojection", "*", "6", "name", "site", "camera", "cutoff", "noise", "user"},
{"rangefinder", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"jointpos", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"jointvel", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"tendonpos", "*", "5", "name", "tendon", "cutoff", "noise", "user"},
{"tendonvel", "*", "5", "name", "tendon", "cutoff", "noise", "user"},
{"actuatorpos", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
{"actuatorvel", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
{"actuatorfrc", "*", "5", "name", "actuator", "cutoff", "noise", "user"},
{"jointactuatorfrc", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"ballquat", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"ballangvel", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"jointlimitpos", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"jointlimitvel", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"jointlimitfrc", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"tendonlimitpos", "*", "5", "name", "tendon", "cutoff", "noise", "user"},
{"tendonlimitvel", "*", "5", "name", "tendon", "cutoff", "noise", "user"},
{"tendonlimitfrc", "*", "5", "name", "tendon", "cutoff", "noise", "user"},
{"framepos", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framequat", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framexaxis", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"frameyaxis", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framezaxis", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framelinvel", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"frameangvel", "*", "8", "name", "objtype", "objname", "reftype", "refname", "cutoff", "noise", "user"},
{"framelinacc", "*", "6", "name", "objtype", "objname", "cutoff", "noise", "user"},
{"frameangacc", "*", "6", "name", "objtype", "objname", "cutoff", "noise", "user"},
{"subtreecom", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"subtreelinvel", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"subtreeangmom", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"clock", "*", "4", "name", "cutoff", "noise", "user"},
{"user", "*", "9", "name", "objtype", "objname", "datatype", "needstage",
"dim", "cutoff", "noise", "user"},
{"plugin", "*", "9", "name", "plugin", "instance", "cutoff", "objtype", "objname", "reftype", "refname",
"user"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{"keyframe", "*", "0"},
{"<"},
{"key", "*", "8", "name", "time", "qpos", "qvel", "act", "mpos", "mquat", "ctrl"},
{">"},
{">"}
};
//---------------------------------- MJCF keywords used in attributes ------------------------------
// coordinate type
const mjMap coordinate_map[2] = {
{"local", 0},
{"global", 1}
};
// angle type
const mjMap angle_map[2] = {
{"radian", 0},
{"degree", 1}
};
// bool type
const mjMap bool_map[2] = {
{"false", 0},
{"true", 1}
};
// fluidshape type
const mjMap fluid_map[2] = {
{"none", 0},
{"ellipsoid", 1}
};
// enable type
const mjMap enable_map[2] = {
{"disable", 0},
{"enable", 1}
};
// TFAuto type
const mjMap TFAuto_map[3] = {
{"false", 0},
{"true", 1},
{"auto", 2}
};
// joint type
const int joint_sz = 4;
const mjMap joint_map[joint_sz] = {
{"free", mjJNT_FREE},
{"ball", mjJNT_BALL},
{"slide", mjJNT_SLIDE},
{"hinge", mjJNT_HINGE}
};
// geom type
const mjMap geom_map[mjNGEOMTYPES] = {
{"plane", mjGEOM_PLANE},
{"hfield", mjGEOM_HFIELD},
{"sphere", mjGEOM_SPHERE},
{"capsule", mjGEOM_CAPSULE},
{"ellipsoid", mjGEOM_ELLIPSOID},
{"cylinder", mjGEOM_CYLINDER},
{"box", mjGEOM_BOX},
{"mesh", mjGEOM_MESH},
{"sdf", mjGEOM_SDF}
};
// camlight type
const int camlight_sz = 5;
const mjMap camlight_map[camlight_sz] = {
{"fixed", mjCAMLIGHT_FIXED},
{"track", mjCAMLIGHT_TRACK},
{"trackcom", mjCAMLIGHT_TRACKCOM},
{"targetbody", mjCAMLIGHT_TARGETBODY},
{"targetbodycom", mjCAMLIGHT_TARGETBODYCOM}
};
// integrator type
const int integrator_sz = 4;
const mjMap integrator_map[integrator_sz] = {
{"Euler", mjINT_EULER},
{"RK4", mjINT_RK4},
{"implicit", mjINT_IMPLICIT},
{"implicitfast", mjINT_IMPLICITFAST}
};
// cone type
const int cone_sz = 2;
const mjMap cone_map[cone_sz] = {
{"pyramidal", mjCONE_PYRAMIDAL},
{"elliptic", mjCONE_ELLIPTIC}
};
// Jacobian type
const int jac_sz = 3;
const mjMap jac_map[jac_sz] = {
{"dense", mjJAC_DENSE},
{"sparse", mjJAC_SPARSE},
{"auto", mjJAC_AUTO}
};
// solver type
const int solver_sz = 3;
const mjMap solver_map[solver_sz] = {
{"PGS", mjSOL_PGS},
{"CG", mjSOL_CG},
{"Newton", mjSOL_NEWTON}
};
// constraint type
const int equality_sz = 6;
const mjMap equality_map[equality_sz] = {
{"connect", mjEQ_CONNECT},
{"weld", mjEQ_WELD},
{"joint", mjEQ_JOINT},
{"tendon", mjEQ_TENDON},
{"flex", mjEQ_FLEX},
{"distance", mjEQ_DISTANCE}
};
// type for texture
const int texture_sz = 3;
const mjMap texture_map[texture_sz] = {
{"2d", mjTEXTURE_2D},
{"cube", mjTEXTURE_CUBE},
{"skybox", mjTEXTURE_SKYBOX}
};
// builtin type for texture
const int builtin_sz = 4;
const mjMap builtin_map[builtin_sz] = {
{"none", mjBUILTIN_NONE},
{"gradient", mjBUILTIN_GRADIENT},
{"checker", mjBUILTIN_CHECKER},
{"flat", mjBUILTIN_FLAT}
};
// mark type for texture
const int mark_sz = 4;
const mjMap mark_map[mark_sz] = {
{"none", mjMARK_NONE},
{"edge", mjMARK_EDGE},
{"cross", mjMARK_CROSS},
{"random", mjMARK_RANDOM}
};
// dyn type
const int dyn_sz = 6;
const mjMap dyn_map[dyn_sz] = {
{"none", mjDYN_NONE},
{"integrator", mjDYN_INTEGRATOR},
{"filter", mjDYN_FILTER},
{"filterexact", mjDYN_FILTEREXACT},
{"muscle", mjDYN_MUSCLE},
{"user", mjDYN_USER}
};
// gain type
const int gain_sz = 4;
const mjMap gain_map[gain_sz] = {
{"fixed", mjGAIN_FIXED},
{"affine", mjGAIN_AFFINE},
{"muscle", mjGAIN_MUSCLE},
{"user", mjGAIN_USER}
};
// bias type
const int bias_sz = 4;
const mjMap bias_map[bias_sz] = {
{"none", mjBIAS_NONE},
{"affine", mjBIAS_AFFINE},
{"muscle", mjBIAS_MUSCLE},
{"user", mjBIAS_USER}
};
// stage type
const int stage_sz = 4;
const mjMap stage_map[stage_sz] = {
{"none", mjSTAGE_NONE},
{"pos", mjSTAGE_POS},
{"vel", mjSTAGE_VEL},
{"acc", mjSTAGE_ACC}
};
// data type
const int datatype_sz = 4;
const mjMap datatype_map[datatype_sz] = {
{"real", mjDATATYPE_REAL},
{"positive", mjDATATYPE_POSITIVE},
{"axis", mjDATATYPE_AXIS},
{"quaternion", mjDATATYPE_QUATERNION}
};
// LR mode
const int lrmode_sz = 4;
const mjMap lrmode_map[lrmode_sz] = {
{"none", mjLRMODE_NONE},
{"muscle", mjLRMODE_MUSCLE},
{"muscleuser", mjLRMODE_MUSCLEUSER},
{"all", mjLRMODE_ALL}
};
// composite type
const mjMap comp_map[mjNCOMPTYPES] = {
{"particle", mjCOMPTYPE_PARTICLE},
{"grid", mjCOMPTYPE_GRID},
{"rope", mjCOMPTYPE_ROPE},
{"loop", mjCOMPTYPE_LOOP},
{"cable", mjCOMPTYPE_CABLE},
{"cloth", mjCOMPTYPE_CLOTH},
{"box", mjCOMPTYPE_BOX},
{"cylinder", mjCOMPTYPE_CYLINDER},
{"ellipsoid", mjCOMPTYPE_ELLIPSOID}
};
// composite joint kind
const mjMap jkind_map[4] = {
{"main", mjCOMPKIND_JOINT},
{"twist", mjCOMPKIND_TWIST},
{"stretch", mjCOMPKIND_STRETCH},
{"particle", mjCOMPKIND_PARTICLE}
};
// composite rope shape
const mjMap shape_map[mjNCOMPSHAPES] = {
{"s", mjCOMPSHAPE_LINE},
{"cos(s)", mjCOMPSHAPE_COS},
{"sin(s)", mjCOMPSHAPE_SIN},
{"0", mjCOMPSHAPE_ZERO}
};
// composite tendon kind
const mjMap tkind_map[2] = {
{"main", mjCOMPKIND_TENDON},
{"shear", mjCOMPKIND_SHEAR}
};
// mesh type
const mjMap meshtype_map[2] = {
{"false", mjINERTIA_VOLUME},
{"true", mjINERTIA_SHELL},
};
// flexcomp type
const mjMap fcomp_map[mjNFCOMPTYPES] = {
{"grid", mjFCOMPTYPE_GRID},
{"box", mjFCOMPTYPE_BOX},
{"cylinder", mjFCOMPTYPE_CYLINDER},
{"ellipsoid", mjFCOMPTYPE_ELLIPSOID},
{"mesh", mjFCOMPTYPE_MESH},
{"gmsh", mjFCOMPTYPE_GMSH},
{"direct", mjFCOMPTYPE_DIRECT}
};
// flex selfcollide type
const mjMap flexself_map[5] = {
{"none", mjFLEXSELF_NONE},
{"narrow", mjFLEXSELF_NARROW},
{"bvh", mjFLEXSELF_BVH},
{"sap", mjFLEXSELF_SAP},
{"auto", mjFLEXSELF_AUTO},
};
//---------------------------------- class mjXReader implementation --------------------------------
// constructor
mjXReader::mjXReader() : schema(MJCF, nMJCF) {
// check for schema construction error
if (!schema.GetError().empty()) {
throw mjXError(0, "Schema construction error: %s",
schema.GetError().c_str());
}
readingdefaults = false;
}
// print schema
void mjXReader::PrintSchema(std::stringstream& str, bool html, bool pad) {
if (html) {
schema.PrintHTML(str, 0, pad);
} else {
schema.Print(str, 0);
}
}
// main entry point for XML parser
// mjCModel is allocated here; caller is responsible for deallocation
void mjXReader::Parse(XMLElement* root) {
// check schema
if (!schema.GetError().empty()) {
throw mjXError(0, "XML Schema Construction Error: %s\n",
schema.GetError().c_str());
}
// validate
XMLElement* bad = 0;
if ((bad = schema.Check(root, 0))) {
throw mjXError(bad, "Schema violation: %s\n",
schema.GetError().c_str());
}
// get model name
ReadAttrTxt(root, "model", model->modelname);
// get comment
if (root->FirstChild() && root->FirstChild()->ToComment()) {
model->comment = root->FirstChild()->Value();
} else {
model->comment.clear();
}
//------------------- parse MuJoCo sections embedded in all XML formats
for (XMLElement* section = FirstChildElement(root, "compiler"); section;
section = NextSiblingElement(section, "compiler")) {
Compiler(section, model);
}
for (XMLElement* section = FirstChildElement(root, "option"); section;
section = NextSiblingElement(section, "option")) {
Option(section, &model->option);
}
for (XMLElement* section = FirstChildElement(root, "size"); section;
section = NextSiblingElement(section, "size")) {
Size(section, model);
}
//------------------ parse MJCF-specific sections
for (XMLElement* section = FirstChildElement(root, "visual"); section;
section = NextSiblingElement(section, "visual")) {
Visual(section);
}
for (XMLElement* section = FirstChildElement(root, "statistic"); section;
section = NextSiblingElement(section, "statistic")) {
Statistic(section);
}
readingdefaults = true;
for (XMLElement* section = FirstChildElement(root, "default"); section;
section = NextSiblingElement(section, "default")) {
Default(section, -1);
}
readingdefaults = false;
for (XMLElement* section = FirstChildElement(root, "extension"); section;
section = NextSiblingElement(section, "extension")) {
Extension(section);
}
for (XMLElement* section = FirstChildElement(root, "custom"); section;
section = NextSiblingElement(section, "custom")) {
Custom(section);
}
for (XMLElement* section = FirstChildElement(root, "asset"); section;
section = NextSiblingElement(section, "asset")) {
Asset(section);
}
for (XMLElement* section = FirstChildElement(root, "worldbody"); section;
section = NextSiblingElement(section, "worldbody")) {
Body(section, &model->GetWorld()->spec, nullptr);
}
for (XMLElement* section = FirstChildElement(root, "contact"); section;
section = NextSiblingElement(section, "contact")) {
Contact(section);
}
for (XMLElement* section = FirstChildElement(root, "deformable"); section;
section = NextSiblingElement(section, "deformable")) {
Deformable(section);
}
for (XMLElement* section = FirstChildElement(root, "equality"); section;
section = NextSiblingElement(section, "equality")) {
Equality(section);
}
for (XMLElement* section = FirstChildElement(root, "tendon"); section;
section = NextSiblingElement(section, "tendon")) {
Tendon(section);
}
for (XMLElement* section = FirstChildElement(root, "actuator"); section;
section = NextSiblingElement(section, "actuator")) {
Actuator(section);
}
for (XMLElement* section = FirstChildElement(root, "sensor"); section;
section = NextSiblingElement(section, "sensor")) {
Sensor(section);
}
for (XMLElement* section = FirstChildElement(root, "keyframe"); section;
section = NextSiblingElement(section, "keyframe")) {
Keyframe(section);
}
}
// compiler section parser
void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
string text;
int n;
// top-level attributes
if (MapValue(section, "autolimits", &n, bool_map, 2)) {
mod->autolimits = (n==1);
}
ReadAttr(section, "boundmass", 1, &mod->boundmass, text);
ReadAttr(section, "boundinertia", 1, &mod->boundinertia, text);
ReadAttr(section, "settotalmass", 1, &mod->settotalmass, text);
if (MapValue(section, "balanceinertia", &n, bool_map, 2)) {
mod->balanceinertia = (n==1);
}
if (MapValue(section, "strippath", &n, bool_map, 2)) {
mod->strippath = (n==1);
}
if (MapValue(section, "fitaabb", &n, bool_map, 2)) {
mod->fitaabb = (n==1);
}
if (MapValue(section, "coordinate", &n, coordinate_map, 2)) {
if (n==1) {
throw mjXError(section, "global coordinates no longer supported. To convert existing models, "
"load and save them in MuJoCo 2.3.3 or older");
}
}
if (MapValue(section, "angle", &n, angle_map, 2)) {
mod->degree = (n==1);
}
if (ReadAttrTxt(section, "eulerseq", text)) {
if (text.size()!=3) {
throw mjXError(section, "euler format must have length 3");
}
memcpy(mod->euler, text.c_str(), 3);
}
if (ReadAttrTxt(section, "assetdir", text)) {
mod->meshdir = text;
mod->texturedir = text;
}
// meshdir and texturedir take precedence over assetdir
ReadAttrTxt(section, "meshdir", mod->meshdir);
ReadAttrTxt(section, "texturedir", mod->texturedir);
if (MapValue(section, "discardvisual", &n, bool_map, 2)) {
mod->discardvisual = (n==1);
}
if (MapValue(section, "convexhull", &n, bool_map, 2)) {
mod->convexhull = (n==1);
}
if (MapValue(section, "usethread", &n, bool_map, 2)) {
mod->usethread = (n==1);
}
if (MapValue(section, "fusestatic", &n, bool_map, 2)) {
mod->fusestatic = (n==1);
}
MapValue(section, "inertiafromgeom", &mod->inertiafromgeom, TFAuto_map, 3);
ReadAttr(section, "inertiagrouprange", 2, mod->inertiagrouprange, text);
if (MapValue(section, "exactmeshinertia", &n, bool_map, 2)){
mod->exactmeshinertia = (n==1);
}
// lengthrange subelement
XMLElement* elem = FindSubElem(section, "lengthrange");
if (elem) {
mjLROpt* opt = &(mod->LRopt);
// flags
MapValue(elem, "mode", &opt->mode, lrmode_map, lrmode_sz);
if (MapValue(elem, "useexisting", &n, bool_map, 2)) {
opt->useexisting = (n==1);
}
if (MapValue(elem, "uselimit", &n, bool_map, 2)) {
opt->uselimit = (n==1);
}
// algorithm parameters
ReadAttr(elem, "accel", 1, &opt->accel, text);
ReadAttr(elem, "maxforce", 1, &opt->maxforce, text);
ReadAttr(elem, "timeconst", 1, &opt->timeconst, text);
ReadAttr(elem, "timestep", 1, &opt->timestep, text);
ReadAttr(elem, "inttotal", 1, &opt->inttotal, text);
ReadAttr(elem, "interval", 1, &opt->interval, text);
ReadAttr(elem, "tolrange", 1, &opt->tolrange, text);
}
}
// option section parser
void mjXReader::Option(XMLElement* section, mjOption* opt) {
string text;
int n;
// read options
ReadAttr(section, "timestep", 1, &opt->timestep, text);
ReadAttr(section, "apirate", 1, &opt->apirate, text);
ReadAttr(section, "impratio", 1, &opt->impratio, text);
ReadAttr(section, "tolerance", 1, &opt->tolerance, text);
ReadAttr(section, "ls_tolerance", 1, &opt->ls_tolerance, text);
ReadAttr(section, "noslip_tolerance", 1, &opt->noslip_tolerance, text);
ReadAttr(section, "mpr_tolerance", 1, &opt->mpr_tolerance, text);
ReadAttr(section, "gravity", 3, opt->gravity, text);
ReadAttr(section, "wind", 3, opt->wind, text);
ReadAttr(section, "magnetic", 3, opt->magnetic, text);
ReadAttr(section, "density", 1, &opt->density, text);
ReadAttr(section, "viscosity", 1, &opt->viscosity, text);
ReadAttr(section, "o_margin", 1, &opt->o_margin, text);
ReadAttr(section, "o_solref", mjNREF, opt->o_solref, text, false, false);
ReadAttr(section, "o_solimp", mjNIMP, opt->o_solimp, text, false, false);
ReadAttr(section, "o_friction", 5, opt->o_friction, text, false, false);
MapValue(section, "integrator", &opt->integrator, integrator_map, integrator_sz);
MapValue(section, "cone", &opt->cone, cone_map, cone_sz);
MapValue(section, "jacobian", &opt->jacobian, jac_map, jac_sz);
MapValue(section, "solver", &opt->solver, solver_map, solver_sz);
ReadAttrInt(section, "iterations", &opt->iterations);
ReadAttrInt(section, "ls_iterations", &opt->ls_iterations);
ReadAttrInt(section, "noslip_iterations", &opt->noslip_iterations);
ReadAttrInt(section, "mpr_iterations", &opt->mpr_iterations);
ReadAttrInt(section, "sdf_iterations", &opt->sdf_iterations);
ReadAttrInt(section, "sdf_initpoints", &opt->sdf_initpoints);
// actuatorgroupdisable
constexpr int num_bitflags = 31;
int disabled_act_groups[num_bitflags];
int num_found = ReadAttr(section, "actuatorgroupdisable", num_bitflags, disabled_act_groups,
text, false, false);
for (int i=0; i < num_found; i++) {
int group = disabled_act_groups[i];
if (group < 0) {
throw mjXError(section, "disabled actuator group value must be non-negative");
}
if (group > num_bitflags - 1) {
throw mjXError(section, "disabled actuator group value cannot exceed 30");
}
opt->disableactuator |= (1 << group);
}
// read disable sub-element
XMLElement* elem = FindSubElem(section, "flag");
if (elem) {
#define READDSBL(NAME, MASK) \
if (MapValue(elem, NAME, &n, enable_map, 2)) { \
opt->disableflags ^= (opt->disableflags & MASK); \
opt->disableflags |= (n ? 0 : MASK); }
READDSBL("constraint", mjDSBL_CONSTRAINT)
READDSBL("equality", mjDSBL_EQUALITY)
READDSBL("frictionloss", mjDSBL_FRICTIONLOSS)
READDSBL("limit", mjDSBL_LIMIT)
READDSBL("contact", mjDSBL_CONTACT)
READDSBL("passive", mjDSBL_PASSIVE)
READDSBL("gravity", mjDSBL_GRAVITY)
READDSBL("clampctrl", mjDSBL_CLAMPCTRL)
READDSBL("warmstart", mjDSBL_WARMSTART)
READDSBL("filterparent", mjDSBL_FILTERPARENT)
READDSBL("actuation", mjDSBL_ACTUATION)
READDSBL("refsafe", mjDSBL_REFSAFE)
READDSBL("sensor", mjDSBL_SENSOR)
READDSBL("midphase", mjDSBL_MIDPHASE)
READDSBL("eulerdamp", mjDSBL_EULERDAMP)
#undef READDSBL
#define READENBL(NAME, MASK) \
if (MapValue(elem, NAME, &n, enable_map, 2)) { \
opt->enableflags ^= (opt->enableflags & MASK); \
opt->enableflags |= (n ? MASK : 0); }
READENBL("override", mjENBL_OVERRIDE)
READENBL("energy", mjENBL_ENERGY)
READENBL("fwdinv", mjENBL_FWDINV)
READENBL("invdiscrete", mjENBL_INVDISCRETE)
READENBL("sensornoise", mjENBL_SENSORNOISE)
READENBL("multiccd", mjENBL_MULTICCD)
READENBL("island", mjENBL_ISLAND)
#undef READENBL
}
}
// size section parser
void mjXReader::Size(XMLElement* section, mjCModel* mod) {
// read memory bytes
{
constexpr char err_msg[] =
"unsigned integer with an optional suffix {K,M,G,T,P,E} is expected in "
"attribute 'memory' (or the size specified is too big)";
auto memory = [&]() -> std::optional<std::size_t> {
const char* pstr = section->Attribute("memory");
if (!pstr) {
return std::nullopt;
}
// trim entire string
std::string trimmed;
{
std::istringstream strm((std::string(pstr)));
strm >> trimmed;
std::string trailing;
strm >> trailing;
if (!trailing.empty() || !strm.eof()) {
throw mjXError(section, "%s", err_msg);
}
// allow explicit specification of the default "-1" value
if (trimmed == "-1") {
return std::nullopt;
}
}
std::istringstream strm(trimmed);
// check that the number is not negative
if (strm.peek() == '-') {
throw mjXError(section, "%s", err_msg);
}
std::size_t base_size;
strm >> base_size;
if (strm.fail()) {
// either not an integer or the number without the suffix is already bigger than size_t
throw mjXError(section, "%s", err_msg);
}
// parse the multiplier suffix
int multiplier_bit = 0;
if (!strm.eof()) {
char suffix = strm.get();
if (suffix == 'K' || suffix == 'k') {
multiplier_bit = 10;
} else if (suffix == 'M' || suffix == 'm') {
multiplier_bit = 20;
} else if (suffix == 'G' || suffix == 'g') {
multiplier_bit = 30;
} else if (suffix == 'T' || suffix == 't') {
multiplier_bit = 40;
} else if (suffix == 'P' || suffix == 'p') {
multiplier_bit = 50;
} else if (suffix == 'E' || suffix == 'e') {
multiplier_bit = 60;
}
// check for invalid suffix, or suffix longer than one character
strm.get();
if (!multiplier_bit || !strm.eof()) {
throw mjXError(section, "%s", err_msg);
}
}
// check that the specified suffix isn't bigger than size_t
if (multiplier_bit + 1 > std::numeric_limits<std::size_t>::digits) {
throw mjXError(section, "%s", err_msg);
}
// check that the suffix won't take the total size beyond size_t
const std::size_t max_base_size =
(std::numeric_limits<std::size_t>::max() << multiplier_bit) >> multiplier_bit;
if (base_size > max_base_size) {
throw mjXError(section, "%s", err_msg);
}
const std::size_t total_size = base_size << multiplier_bit;
return total_size;
}();
if (memory.has_value()) {
if (*memory / sizeof(mjtNum) > std::numeric_limits<int>::max()) {
throw mjXError(section, "%s", err_msg);
}
mod->memory = *memory;
}
}
// read sizes
ReadAttrInt(section, "nuserdata", &mod->nuserdata);
ReadAttrInt(section, "nkey", &mod->nkey);
ReadAttrInt(section, "nconmax", &mod->nconmax);
if (mod->nconmax < -1) throw mjXError(section, "nconmax must be >= -1");
{
int nstack = -1;
const bool has_nstack = ReadAttrInt(section, "nstack", &nstack);
if (has_nstack) {
if (mod->nstack < -1) {
throw mjXError(section, "nstack must be >= -1");
}
if (mod->memory != -1 && nstack != -1) {
throw mjXError(section,
"either 'memory' and 'nstack' attribute can be specified, not both");
}
mod->nstack = nstack;
}
}
{
int njmax = -1;
const bool has_njmax = ReadAttrInt(section, "njmax", &njmax);
if (has_njmax) {
if (mod->njmax < -1) {
throw mjXError(section, "njmax must be >= -1");
}
if (mod->memory != -1 && njmax != -1) {
throw mjXError(section,
"either 'memory' and 'njmax' attribute can be specified, not both");
}
mod->njmax = njmax;
}
}
ReadAttrInt(section, "nuser_body", &mod->nuser_body);
if (mod->nuser_body < -1) throw mjXError(section, "nuser_body must be >= -1");
ReadAttrInt(section, "nuser_jnt", &mod->nuser_jnt);
if (mod->nuser_jnt < -1) throw mjXError(section, "nuser_jnt must be >= -1");
ReadAttrInt(section, "nuser_geom", &mod->nuser_geom);
if (mod->nuser_geom < -1) throw mjXError(section, "nuser_geom must be >= -1");
ReadAttrInt(section, "nuser_site", &mod->nuser_site);
if (mod->nuser_site < -1) throw mjXError(section, "nuser_site must be >= -1");
ReadAttrInt(section, "nuser_cam", &mod->nuser_cam);
if (mod->nuser_cam < -1) throw mjXError(section, "nuser_cam must be >= -1");
ReadAttrInt(section, "nuser_tendon", &mod->nuser_tendon);
if (mod->nuser_tendon < -1) throw mjXError(section, "nuser_tendon must be >= -1");
ReadAttrInt(section, "nuser_actuator", &mod->nuser_actuator);
if (mod->nuser_actuator < -1) throw mjXError(section, "nuser_actuator must be >= -1");
ReadAttrInt(section, "nuser_sensor", &mod->nuser_sensor);
if (mod->nuser_sensor < -1) throw mjXError(section, "nuser_sensor must be >= -1");
}
// statistic section parser
void mjXReader::Statistic(XMLElement* section) {
string text;
// read statistics
ReadAttr(section, "meaninertia", 1, &model->meaninertia, text);
ReadAttr(section, "meanmass", 1, &model->meanmass, text);
ReadAttr(section, "meansize", 1, &model->meansize, text);
ReadAttr(section, "extent", 1, &model->extent, text);
if (mjuu_defined(model->extent) && model->extent<=0) {
throw mjXError(section, "extent must be strictly positive");
}
ReadAttr(section, "center", 3, model->center, text);
}
//---------------------------------- one-element parsers -------------------------------------------
// flex element parser
void mjXReader::OneFlex(XMLElement* elem, mjCFlex* pflex) {
string text;
int n;
// read attributes
ReadAttrTxt(elem, "name", pflex->name);
ReadAttr(elem, "radius", 1, &pflex->radius, text);
ReadAttrTxt(elem, "material", pflex->get_material());
ReadAttr(elem, "rgba", 4, pflex->rgba, text);
if (MapValue(elem, "flatskin", &n, bool_map, 2)) {
pflex->flatskin = (n==1);
}
ReadAttrInt(elem, "dim", &pflex->dim);
ReadAttrInt(elem, "group", &pflex->group);
// read data vectors
if (ReadAttrTxt(elem, "body", text, true)) {
String2Vector(text, pflex->vertbody);
}
if (ReadAttrTxt(elem, "vertex", text)) {
String2Vector(text, pflex->vert);
}
if (ReadAttrTxt(elem, "element", text, true)) {
String2Vector(text, pflex->elem);
}
if (ReadAttrTxt(elem, "texcoord", text)) {
String2Vector(text, pflex->texcoord);
}
// contact subelement
XMLElement* cont = FirstChildElement(elem, "contact");
if (cont) {
ReadAttrInt(cont, "contype", &pflex->contype);
ReadAttrInt(cont, "conaffinity", &pflex->conaffinity);
ReadAttrInt(cont, "condim", &pflex->condim);
ReadAttrInt(cont, "priority", &pflex->priority);
ReadAttr(cont, "friction", 3, pflex->friction, text, false, false);
ReadAttr(cont, "solmix", 1, &pflex->solmix, text);
ReadAttr(cont, "solref", mjNREF, pflex->solref, text, false, false);
ReadAttr(cont, "solimp", mjNIMP, pflex->solimp, text, false, false);
ReadAttr(cont, "margin", 1, &pflex->margin, text);
ReadAttr(cont, "gap", 1, &pflex->gap, text);
if (MapValue(cont, "internal", &n, bool_map, 2)) {
pflex->internal = (n==1);
}
MapValue(cont, "selfcollide", &pflex->selfcollide, flexself_map, 5);
ReadAttrInt(cont, "activelayers", &pflex->activelayers);
}
// edge subelement
XMLElement* edge = FirstChildElement(elem, "edge");
if (edge) {
ReadAttr(edge, "stiffness", 1, &pflex->edgestiffness, text);
ReadAttr(edge, "damping", 1, &pflex->edgedamping, text);
}
GetXMLPos(elem, pflex);
}
// mesh element parser
void mjXReader::OneMesh(XMLElement* elem, mjCMesh* pmesh) {
int n;
string text;
// read attributes
ReadAttrTxt(elem, "name", pmesh->name);
ReadAttrTxt(elem, "class", pmesh->classname);
pmesh->set_content_type(ReadAttrStr(elem, "content_type"));
pmesh->set_file(ReadAttrStr(elem, "file"));
pmesh->set_refpos(ReadAttrArr<double, 3>(elem, "refpos"));
pmesh->set_refquat(ReadAttrArr<double, 4>(elem, "refquat"));
pmesh->set_scale(ReadAttrArr<double, 3>(elem, "scale"));
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
OnePlugin(eplugin, &pmesh->plugin);
}
if (MapValue(elem, "smoothnormal", &n, bool_map, 2)) {
pmesh->set_smoothnormal((n==1));
}
// read user vertex data
pmesh->set_uservert(ReadAttrVec<float>(elem, "vertex"));
// read user normal data
pmesh->set_usernormal(ReadAttrVec<float>(elem, "normal"));
// read user texcoord data
pmesh->set_usertexcoord(ReadAttrVec<float>(elem, "texcoord"));
// read user face data
pmesh->set_userface(ReadAttrVec<int>(elem, "face"));
GetXMLPos(elem, pmesh);
}
// skin element parser
void mjXReader::OneSkin(XMLElement* elem, mjCSkin* pskin) {
string text;
float data[4];
// read attributes
ReadAttrTxt(elem, "name", pskin->name);
ReadAttrTxt(elem, "file", pskin->file);
ReadAttrTxt(elem, "material", pskin->get_material());
ReadAttrInt(elem, "group", &pskin->group);
if (pskin->group<0 || pskin->group>=mjNGROUP) {
throw mjXError(elem, "skin group must be between 0 and 5");
}
ReadAttr(elem, "rgba", 4, pskin->rgba, text);
ReadAttr(elem, "inflate", 1, &pskin->inflate, text);
// read vertex data
if (ReadAttrTxt(elem, "vertex", text)) String2Vector(text, pskin->vert);
// read texcoord data
if (ReadAttrTxt(elem, "texcoord", text)) String2Vector(text, pskin->texcoord);
// read user face data
if (ReadAttrTxt(elem, "face", text)) String2Vector(text, pskin->face);
// read bones
XMLElement* bone = FirstChildElement(elem, "bone");
while (bone) {
// read body
ReadAttrTxt(bone, "body", text, true);
pskin->bodyname.push_back(text);
// read bindpos
ReadAttr(bone, "bindpos", 3, data, text, true);
pskin->bindpos.push_back(data[0]);
pskin->bindpos.push_back(data[1]);
pskin->bindpos.push_back(data[2]);
// read bindquat
ReadAttr(bone, "bindquat", 4, data, text, true);
pskin->bindquat.push_back(data[0]);
pskin->bindquat.push_back(data[1]);
pskin->bindquat.push_back(data[2]);
pskin->bindquat.push_back(data[3]);
// read vertid
vector<int> tempid;
ReadAttrTxt(bone, "vertid", text, true);
String2Vector(text, tempid);
pskin->vertid.push_back(tempid);
// read vertweight
vector<float> tempweight;
ReadAttrTxt(bone, "vertweight", text, true);
String2Vector(text, tempweight);
pskin->vertweight.push_back(tempweight);
// advance to next bone
bone = NextSiblingElement(bone, "bone");
}
GetXMLPos(elem, pskin);
}
// material element parser
void mjXReader::OneMaterial(XMLElement* elem, mjmMaterial* pmat) {
string text, name, classname, texture;
int n;
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pmat->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pmat->classname, classname.c_str());
}
if (ReadAttrTxt(elem, "texture", texture)) {
mjm_setString(pmat->texture, texture.c_str());
}
if (MapValue(elem, "texuniform", &n, bool_map, 2)) {
pmat->texuniform = (n==1);
}
ReadAttr(elem, "texrepeat", 2, pmat->texrepeat, text);
ReadAttr(elem, "emission", 1, &pmat->emission, text);
ReadAttr(elem, "specular", 1, &pmat->specular, text);
ReadAttr(elem, "shininess", 1, &pmat->shininess, text);
ReadAttr(elem, "reflectance", 1, &pmat->reflectance, text);
ReadAttr(elem, "rgba", 4, pmat->rgba, text);
// write error info
mjm_setString(pmat->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// joint element parser
void mjXReader::OneJoint(XMLElement* elem, mjmJoint* pjoint) {
string text, name, classname;
std::vector<double> userdata;
int n;
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pjoint->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pjoint->classname, classname.c_str());
}
if (MapValue(elem, "type", &n, joint_map, joint_sz)) {
pjoint->type = (mjtJoint)n;
}
MapValue(elem, "limited", &pjoint->limited, TFAuto_map, 3);
MapValue(elem, "actuatorfrclimited", &pjoint->actfrclimited, TFAuto_map, 3);
ReadAttrInt(elem, "group", &pjoint->group);
ReadAttr(elem, "solreflimit", mjNREF, pjoint->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, pjoint->solimp_limit, text, false, false);
ReadAttr(elem, "solreffriction", mjNREF, pjoint->solref_friction, text, false, false);
ReadAttr(elem, "solimpfriction", mjNIMP, pjoint->solimp_friction, text, false, false);
ReadAttr(elem, "pos", 3, pjoint->pos, text);
ReadAttr(elem, "axis", 3, pjoint->axis, text);
ReadAttr(elem, "springdamper", 2, pjoint->springdamper, text);
ReadAttr(elem, "stiffness", 1, &pjoint->stiffness, text);
ReadAttr(elem, "range", 2, pjoint->range, text);
ReadAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, text);
ReadAttr(elem, "margin", 1, &pjoint->margin, text);
ReadAttr(elem, "ref", 1, &pjoint->ref, text);
ReadAttr(elem, "springref", 1, &pjoint->springref, text);
ReadAttr(elem, "armature", 1, &pjoint->armature, text);
ReadAttr(elem, "damping", 1, &pjoint->damping, text);
ReadAttr(elem, "frictionloss", 1, &pjoint->frictionloss, text);
// read userdata
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(pjoint->userdata, userdata.data(), userdata.size());
}
// write error info
mjm_setString(pjoint->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// geom element parser
void mjXReader::OneGeom(XMLElement* elem, mjmGeom* pgeom) {
string text, name, classname;
std::vector<double> userdata;
std::string hfieldname, meshname, material;
int n;
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pgeom->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pgeom->classname, classname.c_str());
}
if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
pgeom->type = (mjtGeom)n;
}
ReadAttr(elem, "size", 3, pgeom->size, text, false, false);
ReadAttrInt(elem, "contype", &pgeom->contype);
ReadAttrInt(elem, "conaffinity", &pgeom->conaffinity);
ReadAttrInt(elem, "condim", &pgeom->condim);
ReadAttrInt(elem, "group", &pgeom->group);
ReadAttrInt(elem, "priority", &pgeom->priority);
ReadAttr(elem, "friction", 3, pgeom->friction, text, false, false);
ReadAttr(elem, "solmix", 1, &pgeom->solmix, text);
ReadAttr(elem, "solref", mjNREF, pgeom->solref, text, false, false);
ReadAttr(elem, "solimp", mjNIMP, pgeom->solimp, text, false, false);
ReadAttr(elem, "margin", 1, &pgeom->margin, text);
ReadAttr(elem, "gap", 1, &pgeom->gap, text);
if (ReadAttrTxt(elem, "hfield", hfieldname)) {
mjm_setString(pgeom->hfieldname, hfieldname.c_str());
}
if (ReadAttrTxt(elem, "mesh", meshname)) {
mjm_setString(pgeom->meshname, meshname.c_str());
}
ReadAttr(elem, "fitscale", 1, &pgeom->fitscale, text);
if (ReadAttrTxt(elem, "material", material)) {
mjm_setString(pgeom->material, material.c_str());
}
ReadAttr(elem, "rgba", 4, pgeom->rgba, text);
if (MapValue(elem, "fluidshape", &n, fluid_map, 2)) {
pgeom->fluid_ellipsoid = (n == 1);
}
ReadAttr(elem, "fluidcoef", 5, pgeom->fluid_coefs, text, false, false);
// read userdata
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(pgeom->userdata, userdata.data(), userdata.size());
}
// plugin sub-element
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
OnePlugin(eplugin, &pgeom->plugin);
}
// remaining attributes
ReadAttr(elem, "mass", 1, &pgeom->mass, text);
ReadAttr(elem, "density", 1, &pgeom->density, text);
ReadAttr(elem, "fromto", 6, pgeom->fromto, text);
ReadAttr(elem, "pos", 3, pgeom->pos, text);
ReadQuat(elem, "quat", pgeom->quat, text);
ReadAlternative(elem, pgeom->alt);
// compute inertia using either solid or shell geometry
if (MapValue(elem, "shellinertia", &n, meshtype_map, 2)) {
pgeom->typeinertia = (mjtGeomInertia)n;
}
// write error info
mjm_setString(pgeom->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// site element parser
void mjXReader::OneSite(XMLElement* elem, mjmSite& site) {
int n;
string text, name, classname;
std::vector<double> userdata;
std::string material;
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(site.name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(site.classname, classname.c_str());
}
if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
site.type = (mjtGeom)n;
}
ReadAttr(elem, "size", 3, site.size, text, false, false);
ReadAttrInt(elem, "group", &site.group);
ReadAttr(elem, "pos", 3, site.pos, text);
ReadQuat(elem, "quat", site.quat, text);
if (ReadAttrTxt(elem, "material", material)) {
mjm_setString(site.material, material.c_str());
}
ReadAttr(elem, "rgba", 4, site.rgba, text);
ReadAttr(elem, "fromto", 6, site.fromto, text);
ReadAlternative(elem, site.alt);
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(site.userdata, userdata.data(), userdata.size());
}
// write error info
mjm_setString(site.info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// camera element parser
void mjXReader::OneCamera(XMLElement* elem, mjmCamera* pcam) {
int n;
string text, name, classname, targetbody;
std::vector<double> userdata;
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pcam->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pcam->classname, classname.c_str());
}
if (ReadAttrTxt(elem, "target", targetbody)) {
mjm_setString(pcam->targetbody, targetbody.c_str());
}
if (MapValue(elem, "mode", &n, camlight_map, camlight_sz)) {
pcam->mode = (mjtCamLight)n;
}
ReadAttr(elem, "pos", 3, pcam->pos, text);
ReadQuat(elem, "quat", pcam->quat, text);
ReadAlternative(elem, pcam->alt);
ReadAttr(elem, "ipd", 1, &pcam->ipd, text);
bool has_principal = ReadAttr(elem, "principalpixel", 2, pcam->principal_pixel, text) ||
ReadAttr(elem, "principal", 2, pcam->principal_length, text);
bool has_focal = ReadAttr(elem, "focalpixel", 2, pcam->focal_pixel, text) ||
ReadAttr(elem, "focal", 2, pcam->focal_length, text);
bool needs_sensorsize = has_principal || has_focal;
bool has_sensorsize = ReadAttr(elem, "sensorsize", 2, pcam->sensor_size, text, needs_sensorsize);
bool has_fovy = ReadAttr(elem, "fovy", 1, &pcam->fovy, text);
bool needs_resolution = has_focal || has_sensorsize;
ReadAttr(elem, "resolution", 2, pcam->resolution, text, needs_resolution);
if (pcam->resolution[0] < 0 || pcam->resolution[1] < 0) {
throw mjXError(elem, "camera resolution cannot be negative");
}
if (has_fovy && has_sensorsize) {
throw mjXError(
elem,
"either 'fovy' or 'sensorsize' attribute can be specified, not both");
}
// read userdata
ReadVector(elem, "user", userdata, text);
mjm_setDouble(pcam->userdata, userdata.data(), userdata.size());
// write error info
mjm_setString(pcam->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// light element parser
void mjXReader::OneLight(XMLElement* elem, mjmLight* plight) {
int n;
string text, name, classname, targetbody;
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(plight->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(plight->classname, classname.c_str());
}
if (ReadAttrTxt(elem, "target", targetbody)) {
mjm_setString(plight->targetbody, targetbody.c_str());
}
if (MapValue(elem, "mode", &n, camlight_map, camlight_sz)) {
plight->mode = (mjtCamLight)n;
}
if (MapValue(elem, "directional", &n, bool_map, 2)) {
plight->directional = (n==1);
}
if (MapValue(elem, "castshadow", &n, bool_map, 2)) {
plight->castshadow = (n==1);
}
if (MapValue(elem, "active", &n, bool_map, 2)) {
plight->active = (n==1);
}
ReadAttr(elem, "pos", 3, plight->pos, text);
ReadAttr(elem, "dir", 3, plight->dir, text);
ReadAttr(elem, "attenuation", 3, plight->attenuation, text);
ReadAttr(elem, "cutoff", 1, &plight->cutoff, text);
ReadAttr(elem, "exponent", 1, &plight->exponent, text);
ReadAttr(elem, "ambient", 3, plight->ambient, text);
ReadAttr(elem, "diffuse", 3, plight->diffuse, text);
ReadAttr(elem, "specular", 3, plight->specular, text);
// write error info
mjm_setString(plight->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// pair element parser
void mjXReader::OnePair(XMLElement* elem, mjCPair* ppair) {
string text;
// regular only
if (!readingdefaults) {
ReadAttrTxt(elem, "class", ppair->classname);
ReadAttrTxt(elem, "geom1", ppair->geomname1, true);
ReadAttrTxt(elem, "geom2", ppair->geomname2, true);
}
// read other parameters
ReadAttrTxt(elem, "name", ppair->name);
ReadAttrInt(elem, "condim", &ppair->condim);
ReadAttr(elem, "solref", mjNREF, ppair->solref, text, false, false);
ReadAttr(elem, "solreffriction", mjNREF, ppair->solreffriction, text, false, false);
ReadAttr(elem, "solimp", mjNIMP, ppair->solimp, text, false, false);
ReadAttr(elem, "margin", 1, &ppair->margin, text);
ReadAttr(elem, "gap", 1, &ppair->gap, text);
ReadAttr(elem, "friction", 5, ppair->friction, text, false, false);
GetXMLPos(elem, ppair);
}
// equality element parser
void mjXReader::OneEquality(XMLElement* elem, mjmEquality* pequality) {
int n;
string text, name1, name2, name, classname;
// read type (bad keywords already detected by schema)
text = elem->Value();
pequality->type = (mjtEq)FindKey(equality_map, equality_sz, text);
// regular only
if (!readingdefaults) {
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pequality->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pequality->classname, classname.c_str());
};
switch (pequality->type) {
case mjEQ_CONNECT:
ReadAttrTxt(elem, "body1", name1, true);
ReadAttrTxt(elem, "body2", name2);
ReadAttr(elem, "anchor", 3, pequality->data, text, true);
break;
case mjEQ_WELD:
ReadAttrTxt(elem, "body1", name1, true);
ReadAttrTxt(elem, "body2", name2);
ReadAttr(elem, "relpose", 7, pequality->data+3, text);
ReadAttr(elem, "torquescale", 1, pequality->data+10, text);
if (!ReadAttr(elem, "anchor", 3, pequality->data, text)) {
mjuu_zerovec(pequality->data, 3);
}
break;
case mjEQ_JOINT:
ReadAttrTxt(elem, "joint1", name1, true);
ReadAttrTxt(elem, "joint2", name2);
ReadAttr(elem, "polycoef", 5, pequality->data, text);
break;
case mjEQ_TENDON:
ReadAttrTxt(elem, "tendon1", name1, true);
ReadAttrTxt(elem, "tendon2", name2);
ReadAttr(elem, "polycoef", 5, pequality->data, text);
break;
case mjEQ_FLEX:
ReadAttrTxt(elem, "flex", name1, true);
break;
case mjEQ_DISTANCE:
throw mjXError(elem, "support for distance equality constraints was removed in MuJoCo 2.2.2");
break;
default: // SHOULD NOT OCCUR
throw mjXError(elem, "unrecognized equality constraint type");
}
mjm_setString(pequality->name1, name1.c_str());
if (!name2.empty()) {
mjm_setString(pequality->name2, name2.c_str());
}
}
// read attributes
if (MapValue(elem, "active", &n, bool_map, 2)) {
pequality->active = (n==1);
}
ReadAttr(elem, "solref", mjNREF, pequality->solref, text, false, false);
ReadAttr(elem, "solimp", mjNIMP, pequality->solimp, text, false, false);
// write error info
mjm_setString(pequality->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// tendon element parser
void mjXReader::OneTendon(XMLElement* elem, mjmTendon* pten) {
string text, name, classname, material;
std::vector<double> userdata;
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pten->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pten->classname, classname.c_str());
}
ReadAttrInt(elem, "group", &pten->group);
if (ReadAttrTxt(elem, "material", material)) {
mjm_setString(pten->material, material.c_str());
}
MapValue(elem, "limited", &pten->limited, TFAuto_map, 3);
ReadAttr(elem, "width", 1, &pten->width, text);
ReadAttr(elem, "solreflimit", mjNREF, pten->solref_limit, text, false, false);
ReadAttr(elem, "solimplimit", mjNIMP, pten->solimp_limit, text, false, false);
ReadAttr(elem, "solreffriction", mjNREF, pten->solref_friction, text, false, false);
ReadAttr(elem, "solimpfriction", mjNIMP, pten->solimp_friction, text, false, false);
ReadAttr(elem, "range", 2, pten->range, text);
ReadAttr(elem, "margin", 1, &pten->margin, text);
ReadAttr(elem, "stiffness", 1, &pten->stiffness, text);
ReadAttr(elem, "damping", 1, &pten->damping, text);
ReadAttr(elem, "frictionloss", 1, &pten->frictionloss, text);
// read springlength, either one or two values; if one, copy to second value
if (ReadAttr(elem, "springlength", 2, pten->springlength, text, false, false) == 1) {
pten->springlength[1] = pten->springlength[0];
}
ReadAttr(elem, "rgba", 4, pten->rgba, text);
// read userdata
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(pten->userdata, userdata.data(), userdata.size());
}
// write error info
mjm_setString(pten->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// actuator element parser
void mjXReader::OneActuator(XMLElement* elem, mjmActuator* pact) {
string text, type, name, classname, target, slidersite, refsite;
// common attributes
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pact->name, name.c_str());
}
if (ReadAttrTxt(elem, "class", classname)) {
mjm_setString(pact->classname, classname.c_str());
}
ReadAttrInt(elem, "group", &pact->group);
MapValue(elem, "ctrllimited", &pact->ctrllimited, TFAuto_map, 3);
MapValue(elem, "forcelimited", &pact->forcelimited, TFAuto_map, 3);
MapValue(elem, "actlimited", &pact->actlimited, TFAuto_map, 3);
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
ReadAttr(elem, "forcerange", 2, pact->forcerange, text);
ReadAttr(elem, "actrange", 2, pact->actrange, text);
ReadAttr(elem, "lengthrange", 2, pact->lengthrange, text);
ReadAttr(elem, "gear", 6, pact->gear, text, false, false);
// transmission target and type
int cnt = 0;
if (ReadAttrTxt(elem, "joint", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_JOINT;
cnt++;
}
if (ReadAttrTxt(elem, "jointinparent", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_JOINTINPARENT;
cnt++;
}
if (ReadAttrTxt(elem, "tendon", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_TENDON;
cnt++;
}
if (ReadAttrTxt(elem, "cranksite", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_SLIDERCRANK;
cnt++;
}
if (ReadAttrTxt(elem, "site", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_SITE;
cnt++;
}
if (ReadAttrTxt(elem, "body", target)) {
mjm_setString(pact->target, target.c_str());
pact->trntype = mjTRN_BODY;
cnt++;
}
// check for repeated transmission
if (cnt>1) {
throw mjXError(elem, "actuator can have at most one of transmission target");
}
// slidercrank-specific parameters
int r1 = ReadAttr(elem, "cranklength", 1, &pact->cranklength, text);
int r2 = ReadAttrTxt(elem, "slidersite", slidersite);
if (r2) {
mjm_setString(pact->slidersite, slidersite.c_str());
}
if ((r1 || r2) && pact->trntype!=mjTRN_SLIDERCRANK && pact->trntype!=mjTRN_UNDEFINED) {
throw mjXError(elem, "cranklength and slidersite can only be used in slidercrank transmission");
}
// site-specific parameters (refsite)
int r3 = ReadAttrTxt(elem, "refsite", refsite);
if (r3) {
mjm_setString(pact->refsite, refsite.c_str());
}
if (r3 && pact->trntype!=mjTRN_SITE && pact->trntype!=mjTRN_UNDEFINED) {
throw mjXError(elem, "refsite can only be used with site transmission");
}
// get predefined type
type = elem->Value();
// explicit attributes
if (type=="general") {
// explicit attributes
int n;
if (MapValue(elem, "dyntype", &n, dyn_map, dyn_sz)) {
pact->dyntype = (mjtDyn)n;
}
if (MapValue(elem, "gaintype", &n, gain_map, gain_sz)) {
pact->gaintype = (mjtGain)n;
}
if (MapValue(elem, "biastype", &n, bias_map, bias_sz)) {
pact->biastype = (mjtBias)n;
}
if (MapValue(elem, "actearly", &n, bool_map, 2)) {
pact->actearly = (n==1);
}
ReadAttr(elem, "dynprm", mjNDYN, pact->dynprm, text, false, false);
ReadAttr(elem, "gainprm", mjNGAIN, pact->gainprm, text, false, false);
ReadAttr(elem, "biasprm", mjNBIAS, pact->biasprm, text, false, false);
ReadAttrInt(elem, "actdim", &pact->actdim);
}
// direct drive motor
else if (type=="motor") {
// unit gain
pact->gainprm[0] = 1;
// implied parameters
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_NONE;
}
// position or integrated velocity servo
else if (type=="position" || type=="intvelocity") {
// explicit attributes
ReadAttr(elem, "kp", 1, pact->gainprm, text);
pact->biasprm[1] = -pact->gainprm[0];
if (ReadAttr(elem, "kv", 1, pact->biasprm + 2, text)) {
if (pact->biasprm[2] < 0)
throw mjXError(elem, "kv cannot be negative");
pact->biasprm[2] *= -1;
}
// implied parameters
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_AFFINE;
if (type=="intvelocity") {
pact->dyntype = mjDYN_INTEGRATOR;
pact->actlimited = 1;
}
}
// velocity servo
else if (type=="velocity") {
// clear bias
mjuu_zerovec(pact->biasprm, mjNBIAS);
// explicit attributes
ReadAttr(elem, "kv", 1, pact->gainprm, text);
pact->biasprm[2] = -pact->gainprm[0];
// implied parameters
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_AFFINE;
}
// damper
else if (type=="damper") {
// clear gain
mjuu_zerovec(pact->gainprm, mjNGAIN);
// explicit attributes
ReadAttr(elem, "kv", 1, pact->gainprm+2, text);
if (pact->gainprm[2]<0)
throw mjXError(elem, "damping coefficient cannot be negative");
pact->gainprm[2] = -pact->gainprm[2];
// require nonnegative range
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
if (pact->ctrlrange[0]<0 || pact->ctrlrange[1]<0) {
throw mjXError(elem, "damper control range cannot be negative");
}
// implied parameters
pact->ctrllimited = 1;
pact->dyntype = mjDYN_NONE;
pact->gaintype = mjGAIN_AFFINE;
pact->biastype = mjBIAS_NONE;
}
// cylinder
else if (type=="cylinder") {
// explicit attributes
ReadAttr(elem, "timeconst", 1, pact->dynprm, text);
ReadAttr(elem, "bias", 3, pact->biasprm, text);
ReadAttr(elem, "area", 1, pact->gainprm, text);
double diameter;
if (ReadAttr(elem, "diameter", 1, &diameter, text)) {
pact->gainprm[0] = mjPI / 4 * diameter*diameter;
}
// implied parameters
pact->dyntype = mjDYN_FILTER;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_AFFINE;
}
// muscle
else if (type=="muscle") {
// set muscle defaults if same as global defaults
if (pact->dynprm[0]==1) pact->dynprm[0] = 0.01; // tau act
if (pact->dynprm[1]==0) pact->dynprm[1] = 0.04; // tau deact
if (pact->gainprm[0]==1) pact->gainprm[0] = 0.75; // range[0]
if (pact->gainprm[1]==0) pact->gainprm[1] = 1.05; // range[1]
if (pact->gainprm[2]==0) pact->gainprm[2] = -1; // force
if (pact->gainprm[3]==0) pact->gainprm[3] = 200; // scale
if (pact->gainprm[4]==0) pact->gainprm[4] = 0.5; // lmin
if (pact->gainprm[5]==0) pact->gainprm[5] = 1.6; // lmax
if (pact->gainprm[6]==0) pact->gainprm[6] = 1.5; // vmax
if (pact->gainprm[7]==0) pact->gainprm[7] = 1.3; // fpmax
if (pact->gainprm[8]==0) pact->gainprm[8] = 1.2; // fvmax
// explicit attributes
ReadAttr(elem, "timeconst", 2, pact->dynprm, text);
ReadAttr(elem, "tausmooth", 1, pact->dynprm+2, text);
if (pact->dynprm[2]<0)
throw mjXError(elem, "muscle tausmooth cannot be negative");
ReadAttr(elem, "range", 2, pact->gainprm, text);
ReadAttr(elem, "force", 1, pact->gainprm+2, text);
ReadAttr(elem, "scale", 1, pact->gainprm+3, text);
ReadAttr(elem, "lmin", 1, pact->gainprm+4, text);
ReadAttr(elem, "lmax", 1, pact->gainprm+5, text);
ReadAttr(elem, "vmax", 1, pact->gainprm+6, text);
ReadAttr(elem, "fpmax", 1, pact->gainprm+7, text);
ReadAttr(elem, "fvmax", 1, pact->gainprm+8, text);
// biasprm = gainprm
for (int n=0; n<9; n++) {
pact->biasprm[n] = pact->gainprm[n];
}
// implied parameters
pact->dyntype = mjDYN_MUSCLE;
pact->gaintype = mjGAIN_MUSCLE;
pact->biastype = mjBIAS_MUSCLE;
}
// adhesion
else if (type=="adhesion") {
// explicit attributes
ReadAttr(elem, "gain", 1, pact->gainprm, text);
if (pact->gainprm[0]<0)
throw mjXError(elem, "adhesion gain cannot be negative");
// require nonnegative range
ReadAttr(elem, "ctrlrange", 2, pact->ctrlrange, text);
if (pact->ctrlrange[0]<0 || pact->ctrlrange[1]<0) {
throw mjXError(elem, "adhesion control range cannot be negative");
}
// implied parameters
pact->ctrllimited = 1;
pact->gaintype = mjGAIN_FIXED;
pact->biastype = mjBIAS_NONE;
}
else if (type == "plugin") {
OnePlugin(elem, &pact->plugin);
int n;
if (MapValue(elem, "dyntype", &n, dyn_map, dyn_sz)) {
pact->dyntype = (mjtDyn)n;
}
if (MapValue(elem, "actearly", &n, bool_map, 2)) {
pact->actearly = (n==1);
}
ReadAttr(elem, "dynprm", mjNDYN, pact->dynprm, text, false, false);
}
else { // SHOULD NOT OCCUR
throw mjXError(elem, "unrecognized actuator type: %s", type.c_str());
}
// read userdata
std::vector<double> userdata;
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(pact->userdata, userdata.data(), userdata.size());
}
// write info
mjm_setString(pact->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
// make composite
void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
string text;
int n;
// create out-of-DOM element
mjCComposite comp;
// common properties
ReadAttrTxt(elem, "prefix", comp.prefix);
if (MapValue(elem, "type", &n, comp_map, mjNCOMPTYPES, true)) {
comp.type = (mjtCompType)n;
}
ReadAttr(elem, "count", 3, comp.count, text, false, false);
ReadAttr(elem, "spacing", 1, &comp.spacing, text, false);
ReadAttr(elem, "offset", 3, comp.offset, text);
ReadAttr(elem, "flatinertia", 1, &comp.flatinertia, text);
// plugin
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
ReadAttrTxt(eplugin, "plugin", comp.plugin_name);
ReadAttrTxt(eplugin, "instance", comp.plugin_instance_name);
if (comp.plugin_instance_name.empty()) {
comp.plugin_instance = (mjCPlugin*)mjm_addPlugin(model);
comp.plugin_instance->name = "composite"+comp.prefix;
comp.plugin_instance_name = comp.plugin_instance->name;
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(eplugin, comp.plugin_instance);
}
// cable
std::string curves;
ReadAttrTxt(elem, "curve", curves);
ReadAttrTxt(elem, "initial", comp.initial);
ReadAttr(elem, "size", 3, comp.size, text, false, false);
if (ReadAttrTxt(elem, "vertex", text)){
String2Vector(text, comp.uservert);
}
// shell
ReadAttrTxt(elem, "face", comp.userface);
// process curve string
std::istringstream iss(curves);
int i = 0;
while (iss) {
iss >> text;
if (i>2) {
throw mjXError(elem, "The curve array must have a maximum of 3 components");
}
comp.curve[i++] = (mjtCompShape)FindKey(shape_map, mjNCOMPSHAPES, text);
if (iss.eof()){
break;
}
};
// skin
XMLElement* eskin = FirstChildElement(elem, "skin");
if (eskin) {
comp.skin = true;
if (MapValue(eskin, "texcoord", &n, bool_map, 2)) {
comp.skintexcoord = (n==1);
}
ReadAttrTxt(eskin, "material", comp.skinmaterial);
ReadAttr(eskin, "rgba", 4, comp.skinrgba, text);
ReadAttr(eskin, "inflate", 1, &comp.skininflate, text);
ReadAttrInt(eskin, "subgrid", &comp.skinsubgrid);
ReadAttrInt(eskin, "group", &comp.skingroup, 0);
if (comp.skingroup<0 || comp.skingroup>=mjNGROUP) {
throw mjXError(eskin, "skin group must be between 0 and 5");
}
}
// set type-specific defaults
comp.SetDefault();
// parse smooth solver parameters after type-specific defaults are set
ReadAttr(elem, "solrefsmooth", mjNREF, comp.solrefsmooth, text, false, false);
ReadAttr(elem, "solimpsmooth", mjNIMP, comp.solimpsmooth, text, false, false);
// geom
XMLElement* egeom = FirstChildElement(elem, "geom");
if (egeom) {
std::string material;
mjmGeom& dgeom = comp.def[0].geom.spec;
if (MapValue(egeom, "type", &n, geom_map, mjNGEOMTYPES)) {
dgeom.type = (mjtGeom)n;
}
ReadAttr(egeom, "size", 3, dgeom.size, text, false, false);
ReadAttrInt(egeom, "contype", &dgeom.contype);
ReadAttrInt(egeom, "conaffinity", &dgeom.conaffinity);
ReadAttrInt(egeom, "condim", &dgeom.condim);
ReadAttrInt(egeom, "group", &dgeom.group);
ReadAttrInt(egeom, "priority", &dgeom.priority);
ReadAttr(egeom, "friction", 3, dgeom.friction, text, false, false);
ReadAttr(egeom, "solmix", 1, &dgeom.solmix, text);
ReadAttr(egeom, "solref", mjNREF, dgeom.solref, text, false, false);
ReadAttr(egeom, "solimp", mjNIMP, dgeom.solimp, text, false, false);
ReadAttr(egeom, "margin", 1, &dgeom.margin, text);
ReadAttr(egeom, "gap", 1, &dgeom.gap, text);
if (ReadAttrTxt(egeom, "material", material)) {
mjm_setString(dgeom.material, material.c_str());
}
ReadAttr(egeom, "rgba", 4, dgeom.rgba, text);
ReadAttr(egeom, "mass", 1, &dgeom.mass, text);
ReadAttr(egeom, "density", 1, &dgeom.density, text);
}
// site
XMLElement* esite = FirstChildElement(elem, "site");
if (esite) {
std::string material;
mjmSite& dsite = comp.def[0].site.spec;
ReadAttr(esite, "size", 3, dsite.size, text, false, false);
ReadAttrInt(esite, "group", &dsite.group);
ReadAttrTxt(esite, "material", material);
ReadAttr(esite, "rgba", 4, dsite.rgba, text);
mjm_setString(dsite.material, material.c_str());
}
// joint
XMLElement* ejnt = FirstChildElement(elem, "joint");
while (ejnt) {
// kind
int kind;
MapValue(ejnt, "kind", &kind, jkind_map, 4, true);
// create a new element if this kind already exists
if (comp.add[kind]) {
char error[200];
if (!comp.AddDefaultJoint(error, 200)) {
throw mjXError(elem, "%s", error);
}
}
comp.add[kind] = true;
// get element
mjCDef *el = &comp.defjoint[(mjtCompKind)kind].back();
// particle joint
if (MapValue(ejnt, "type", &n, joint_map, joint_sz)) {
el->joint.spec.type = (mjtJoint)n;
}
ReadAttr(ejnt, "axis", 3, el->joint.spec.axis, text);
// solreffix, solimpfix
ReadAttr(ejnt, "solreffix", mjNREF, el->equality.spec.solref, text, false, false);
ReadAttr(ejnt, "solimpfix", mjNIMP, el->equality.spec.solimp, text, false, false);
// joint attributes
MapValue(elem, "limited", &el->joint.spec.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &el->joint.spec.group);
ReadAttr(ejnt, "solreflimit", mjNREF, el->joint.spec.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, el->joint.spec.solimp_limit, text, false, false);
ReadAttr(ejnt,
"solreffriction", mjNREF, el->joint.spec.solref_friction, text, false, false);
ReadAttr(ejnt,
"solimpfriction", mjNIMP, el->joint.spec.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &el->joint.spec.stiffness, text);
ReadAttr(ejnt, "range", 2, el->joint.spec.range, text);
ReadAttr(ejnt, "margin", 1, &el->joint.spec.margin, text);
ReadAttr(ejnt, "armature", 1, &el->joint.spec.armature, text);
ReadAttr(ejnt, "damping", 1, &el->joint.spec.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &el->joint.spec.frictionloss, text);
// advance
ejnt = NextSiblingElement(ejnt, "joint");
}
// tendon
XMLElement* eten = FirstChildElement(elem, "tendon");
while (eten) {
// kind
int kind;
MapValue(eten, "kind", &kind, tkind_map, 2, true);
comp.add[kind] = true;
// solreffix, solimpfix
ReadAttr(eten, "solreffix", mjNREF, comp.def[kind].equality.spec.solref, text, false, false);
ReadAttr(eten, "solimpfix", mjNIMP, comp.def[kind].equality.spec.solimp, text, false, false);
// tendon attributes
std::string material;
MapValue(elem, "limited", &comp.def[kind].tendon.spec.limited, TFAuto_map, 3);
ReadAttrInt(eten, "group", &comp.def[kind].tendon.spec.group);
ReadAttr(eten, "solreflimit", mjNREF, comp.def[kind].tendon.spec.solref_limit, text, false, false);
ReadAttr(eten, "solimplimit", mjNIMP, comp.def[kind].tendon.spec.solimp_limit, text, false, false);
ReadAttr(eten,
"solreffriction", mjNREF, comp.def[kind].tendon.spec.solref_friction, text, false, false);
ReadAttr(eten,
"solimpfriction", mjNIMP, comp.def[kind].tendon.spec.solimp_friction, text, false, false);
ReadAttr(eten, "range", 2, comp.def[kind].tendon.spec.range, text);
ReadAttr(eten, "margin", 1, &comp.def[kind].tendon.spec.margin, text);
ReadAttr(eten, "stiffness", 1, &comp.def[kind].tendon.spec.stiffness, text);
ReadAttr(eten, "damping", 1, &comp.def[kind].tendon.spec.damping, text);
ReadAttr(eten, "frictionloss", 1, &comp.def[kind].tendon.spec.frictionloss, text);
ReadAttrTxt(eten, "material", material);
mjm_setString(comp.def[kind].tendon.spec.material, material.c_str());
ReadAttr(eten, "rgba", 4, comp.def[kind].tendon.spec.rgba, text);
ReadAttr(eten, "width", 1, &comp.def[kind].tendon.spec.width, text);
// advance
eten = NextSiblingElement(eten, "tendon");
}
// pin
XMLElement* epin = FirstChildElement(elem, "pin");
while (epin) {
// read
int coord[2] = {0, 0};
ReadAttr(epin, "coord", 2, coord, text, true, false);
// insert 2 coordinates (2nd may be unused)
comp.pin.push_back(coord[0]);
comp.pin.push_back(coord[1]);
// advance
epin = NextSiblingElement(epin, "pin");
}
// make composite
char error[200];
bool res = comp.Make((mjCModel*)mjm_getModel(pbody), pbody, error, 200);
// throw error
if (!res) {
throw mjXError(elem, "%s", error);
}
}
// make flexcomp
void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
string text;
int n;
// create out-of-DOM element
mjCFlexcomp fcomp;
// common properties
ReadAttrTxt(elem, "name", fcomp.name, true);
if (MapValue(elem, "type", &n, fcomp_map, mjNFCOMPTYPES)) {
fcomp.type = (mjtFcompType)n;
}
ReadAttr(elem, "count", 3, fcomp.count, text);
ReadAttr(elem, "spacing", 3, fcomp.spacing, text);
ReadAttr(elem, "scale", 3, fcomp.scale, text);
ReadAttr(elem, "mass", 1, &fcomp.mass, text);
ReadAttr(elem, "inertiabox", 1, &fcomp.inertiabox, text);
ReadAttrTxt(elem, "file", fcomp.file);
ReadAttrTxt(elem, "material", fcomp.def.flex.get_material());
ReadAttr(elem, "rgba", 4, fcomp.def.flex.rgba, text);
if (MapValue(elem, "flatskin", &n, bool_map, 2)) {
fcomp.def.flex.flatskin = (n==1);
}
ReadAttrInt(elem, "dim", &fcomp.def.flex.dim);
ReadAttr(elem, "radius", 1, &fcomp.def.flex.radius, text);
ReadAttrInt(elem, "group", &fcomp.def.flex.group);
// pose
ReadAttr(elem, "pos", 3, fcomp.pos, text);
ReadAttr(elem, "quat", 4, fcomp.quat, text);
ReadAlternative(elem, fcomp.alt);
// user or internal
if (MapValue(elem, "rigid", &n, bool_map, 2)) {
fcomp.rigid = (n==1);
}
if (ReadAttrTxt(elem, "point", text)){
String2Vector(text, fcomp.point);
}
if (ReadAttrTxt(elem, "element", text)){
String2Vector(text, fcomp.element);
}
if (ReadAttrTxt(elem, "texcoord", text)) {
String2Vector(text, fcomp.texcoord);
}
// edge
XMLElement* edge = FirstChildElement(elem, "edge");
if (edge) {
if (MapValue(edge, "equality", &n, bool_map, 2)) {
fcomp.equality = (n==1);
}
ReadAttr(edge, "solref", mjNREF, fcomp.def.equality.spec.solref, text, false, false);
ReadAttr(edge, "solimp", mjNIMP, fcomp.def.equality.spec.solimp, text, false, false);
ReadAttr(edge, "stiffness", 1, &fcomp.def.flex.edgestiffness, text);
ReadAttr(edge, "damping", 1, &fcomp.def.flex.edgedamping, text);
}
// contact
XMLElement* cont = FirstChildElement(elem, "contact");
if (cont) {
ReadAttrInt(cont, "contype", &fcomp.def.flex.contype);
ReadAttrInt(cont, "conaffinity", &fcomp.def.flex.conaffinity);
ReadAttrInt(cont, "condim", &fcomp.def.flex.condim);
ReadAttrInt(cont, "priority", &fcomp.def.flex.priority);
ReadAttr(cont, "friction", 3, fcomp.def.flex.friction, text, false, false);
ReadAttr(cont, "solmix", 1, &fcomp.def.flex.solmix, text);
ReadAttr(cont, "solref", mjNREF, fcomp.def.flex.solref, text, false, false);
ReadAttr(cont, "solimp", mjNIMP, fcomp.def.flex.solimp, text, false, false);
ReadAttr(cont, "margin", 1, &fcomp.def.flex.margin, text);
ReadAttr(cont, "gap", 1, &fcomp.def.flex.gap, text);
if (MapValue(cont, "internal", &n, bool_map, 2)) {
fcomp.def.flex.internal = (n==1);
}
MapValue(cont, "selfcollide", &fcomp.def.flex.selfcollide, flexself_map, 5);
ReadAttrInt(cont, "activelayers", &fcomp.def.flex.activelayers);
}
// pin
XMLElement* epin = FirstChildElement(elem, "pin");
while (epin) {
// accumulate id, coord, range
vector<int> temp;
if (ReadAttrTxt(epin, "id", text)){
String2Vector(text, temp);
fcomp.pinid.insert(fcomp.pinid.end(), temp.begin(), temp.end());
}
if (ReadAttrTxt(epin, "range", text)){
String2Vector(text, temp);
fcomp.pinrange.insert(fcomp.pinrange.end(), temp.begin(), temp.end());
}
if (ReadAttrTxt(epin, "grid", text)){
String2Vector(text, temp);
fcomp.pingrid.insert(fcomp.pingrid.end(), temp.begin(), temp.end());
}
if (ReadAttrTxt(epin, "gridrange", text)){
String2Vector(text, temp);
fcomp.pingridrange.insert(fcomp.pingridrange.end(), temp.begin(), temp.end());
}
// advance
epin = NextSiblingElement(epin, "pin");
}
// plugin
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
ReadAttrTxt(eplugin, "plugin", fcomp.plugin_name);
ReadAttrTxt(eplugin, "instance", fcomp.plugin_instance_name);
if (fcomp.plugin_instance_name.empty()) {
fcomp.plugin_instance = (mjCPlugin*)mjm_addPlugin(model);
fcomp.plugin_instance->name = "flexcomp_" + fcomp.name;
fcomp.plugin_instance_name = fcomp.plugin_instance->name;
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(eplugin, fcomp.plugin_instance);
}
// make flexcomp
char error[200];
bool res = fcomp.Make((mjCModel*)mjm_getModel(pbody), pbody, error, 200);
// throw error
if (!res) {
throw mjXError(elem, "%s", error);
}
}
// add plugin
void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
plugin->active = true;
std::string name = "";
std::string instance_name = "";
ReadAttrTxt(elem, "plugin", name);
ReadAttrTxt(elem, "instance", instance_name);
mjm_setString(plugin->name, name.c_str());
mjm_setString(plugin->instance_name, instance_name.c_str());
if (instance_name.empty()) {
plugin->instance = mjm_addPlugin(model);
ReadPluginConfigs(elem, (mjCPlugin*)plugin->instance);
} else {
model->hasImplicitPluginElem = true;
}
}
//------------------ MJCF-specific sections --------------------------------------------------------
// default section parser
void mjXReader::Default(XMLElement* section, int parentid) {
XMLElement* elem;
string text, name;
mjCDef* def;
int thisid;
// create new default, except at top level (already added in mjCModel ctor)
text.clear();
ReadAttrTxt(section, "class", text);
if (text.empty()) {
if (parentid>=0) {
throw mjXError(section, "empty class name");
} else {
text = "main";
}
}
if (parentid>=0) {
thisid = (int)model->defaults.size();
def = model->AddDef(text, parentid);
if (!def) {
throw mjXError(section, "repeated default class name");
}
} else {
thisid = 0;
def = model->defaults[0];
def->name = text;
}
// iterate over elements other than nested defaults
elem = FirstChildElement(section);
while (elem) {
// get element name
name = elem->Value();
// read mesh
if (name=="mesh") OneMesh(elem, &def->mesh);
// read material
else if (name=="material") OneMaterial(elem, &def->material.spec);
// read joint
else if (name=="joint") OneJoint(elem, &def->joint.spec);
// read geom
else if (name=="geom") OneGeom(elem, &def->geom.spec);
// read site
else if (name=="site") OneSite(elem, def->site.spec);
// read camera
else if (name=="camera") OneCamera(elem, &def->camera.spec);
// read light
else if (name=="light") OneLight(elem, &def->light.spec);
// read pair
else if (name=="pair") OnePair(elem, &def->pair);
// read equality
else if (name=="equality") OneEquality(elem, &def->equality.spec);
// read tendon
else if (name=="tendon") OneTendon(elem, &def->tendon.spec);
// read actuator
else if (name=="general" ||
name=="motor" ||
name=="position" ||
name=="velocity" ||
name=="damper" ||
name=="intvelocity" ||
name=="cylinder" ||
name=="muscle" ||
name=="adhesion") {
OneActuator(elem, &def->actuator.spec);
}
// copy into private attributes
mjm_finalize(def->geom.spec.element);
mjm_finalize(def->joint.spec.element);
mjm_finalize(def->site.spec.element);
mjm_finalize(def->camera.spec.element);
mjm_finalize(def->light.spec.element);
mjm_finalize(def->actuator.spec.element);
mjm_finalize(def->material.spec.element);
mjm_finalize(def->equality.spec.element);
mjm_finalize(def->tendon.spec.element);
// advance
elem = NextSiblingElement(elem);
}
// iterate over nested defaults
elem = FirstChildElement(section);
while (elem) {
// get element name
name = elem->Value();
// read default
if (name=="default") {
Default(elem, thisid);
}
// advance
elem = NextSiblingElement(elem);
}
}
// extension section parser
void mjXReader::Extension(XMLElement* section) {
XMLElement* elem = FirstChildElement(section);
while (elem) {
// get sub-element name
std::string_view name = elem->Value();
if (name == "plugin") {
std::string plugin_name;
int plugin_slot = -1;
ReadAttrTxt(elem, "plugin", plugin_name, /* required = */ true);
const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
if (!plugin) {
throw mjXError(elem, "unknown plugin '%s'", plugin_name.c_str());
}
bool already_declared = false;
for (const auto& [existing_plugin, existing_slot] : model->active_plugins) {
if (plugin == existing_plugin) {
already_declared = true;
break;
}
}
if (!already_declared) {
model->active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
}
XMLElement* child = FirstChildElement(elem);
while (child) {
if (std::string(child->Value())=="instance") {
if (model->hasImplicitPluginElem) {
throw mjXError(
child, "explicit plugin instance must appear before implicit plugin elements");
}
mjCPlugin* pp = (mjCPlugin*)mjm_addPlugin(model);
GetXMLPos(child, pp);
ReadAttrTxt(child, "name", pp->name, /* required = */ true);
if (pp->name.empty()) {
throw mjXError(child, "plugin instance must have a name");
}
ReadPluginConfigs(child, pp);
pp->plugin_slot = plugin_slot;
pp->nstate = -1; // actual value to be filled in by the plugin later
}
child = NextSiblingElement(child);
}
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// custom section parser
void mjXReader::Custom(XMLElement* section) {
string text, name;
XMLElement* elem;
double data[500];
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
// numeric
if (name=="numeric") {
// create custom
mjCNumeric* pnum = model->AddNumeric();
GetXMLPos(elem, pnum);
// read attributes
ReadAttrTxt(elem, "name", pnum->name, true);
if (ReadAttrInt(elem, "size", &pnum->size)) {
int sz = pnum->size < 500 ? pnum->size : 500;
for (int i=0; i<sz; i++) {
data[i] = 0;
}
} else {
pnum->size = 501;
}
int len = ReadAttr(elem, "data", pnum->size, data, text, false, false);
if (pnum->size==501) {
pnum->size = len;
}
if (pnum->size<1 || pnum->size>500) {
throw mjXError(elem, "custom field size must be between 1 and 500");
}
// copy data
for (int i=0; i<pnum->size; i++) {
pnum->data.push_back(data[i]);
}
}
// text
else if (name=="text") {
// create custom
mjCText* pte = model->AddText();
GetXMLPos(elem, pte);
// read attributes
ReadAttrTxt(elem, "name", pte->name, true);
ReadAttrTxt(elem, "data", text, true);
if (text.empty()) {
throw mjXError(elem, "text field cannot be empty");
}
// copy data
pte->data = text;
}
// tuple
else if (name=="tuple") {
// create custom
mjCTuple* ptu = model->AddTuple();
GetXMLPos(elem, ptu);
// read attributes
ReadAttrTxt(elem, "name", ptu->name, true);
// read objects and add
XMLElement* obj = FirstChildElement(elem);
while (obj) {
// get sub-element name
name = obj->Value();
// new object
if (name=="element") {
// read type, check and assign
ReadAttrTxt(obj, "objtype", text, true);
mjtObj otype = (mjtObj)mju_str2Type(text.c_str());
if (otype==mjOBJ_UNKNOWN) {
throw mjXError(obj, "unknown object type");
}
ptu->objtype.push_back(otype);
// read name and assign
ReadAttrTxt(obj, "objname", text, true);
ptu->objname.push_back(text);
// read parameter and assign
double oprm = 0;
ReadAttr(obj, "prm", 1, &oprm, text);
ptu->objprm.push_back(oprm);
}
// advance to next object
obj = NextSiblingElement(obj);
}
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// visual section parser
void mjXReader::Visual(XMLElement* section) {
string text, name;
XMLElement* elem;
mjVisual* vis = &model->visual;
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
// global sub-element
if (name=="global") {
ReadAttr(elem, "fovy", 1, &vis->global.fovy, text);
ReadAttr(elem, "ipd", 1, &vis->global.ipd, text);
ReadAttr(elem, "azimuth", 1, &vis->global.azimuth, text);
ReadAttr(elem, "elevation", 1, &vis->global.elevation, text);
ReadAttr(elem, "linewidth", 1, &vis->global.linewidth, text);
ReadAttr(elem, "glow", 1, &vis->global.glow, text);
ReadAttrInt(elem, "offwidth", &vis->global.offwidth);
ReadAttrInt(elem, "offheight", &vis->global.offheight);
if (ReadAttr(elem, "realtime", 1, &vis->global.realtime, text)) {
if (vis->global.realtime<=0) {
throw mjXError(elem, "realtime must be greater than 0");
}
}
int ellipsoidinertia;
if (MapValue(elem, "ellipsoidinertia", &ellipsoidinertia, bool_map, 2)) {
vis->global.ellipsoidinertia = (ellipsoidinertia==1);
}
int bvactive;
if (MapValue(elem, "bvactive", &bvactive, bool_map, 2)) {
vis->global.bvactive = (bvactive==1);
}
}
// quality sub-element
else if (name=="quality") {
ReadAttrInt(elem, "shadowsize", &vis->quality.shadowsize);
ReadAttrInt(elem, "offsamples", &vis->quality.offsamples);
ReadAttrInt(elem, "numslices", &vis->quality.numslices);
ReadAttrInt(elem, "numstacks", &vis->quality.numstacks);
ReadAttrInt(elem, "numquads", &vis->quality.numquads);
}
// headlight sub-element
else if (name=="headlight") {
ReadAttr(elem, "ambient", 3, vis->headlight.ambient, text);
ReadAttr(elem, "diffuse", 3, vis->headlight.diffuse, text);
ReadAttr(elem, "specular", 3, vis->headlight.specular, text);
ReadAttrInt(elem, "active", &vis->headlight.active);
}
// map sub-element
else if (name=="map") {
ReadAttr(elem, "stiffness", 1, &vis->map.stiffness, text);
ReadAttr(elem, "stiffnessrot", 1, &vis->map.stiffnessrot, text);
ReadAttr(elem, "force", 1, &vis->map.force, text);
ReadAttr(elem, "torque", 1, &vis->map.torque, text);
ReadAttr(elem, "alpha", 1, &vis->map.alpha, text);
ReadAttr(elem, "fogstart", 1, &vis->map.fogstart, text);
ReadAttr(elem, "fogend", 1, &vis->map.fogend, text);
ReadAttr(elem, "znear", 1, &vis->map.znear, text);
if (vis->map.znear<=0) {
throw mjXError(elem, "znear must be strictly positive");
}
ReadAttr(elem, "zfar", 1, &vis->map.zfar, text);
ReadAttr(elem, "haze", 1, &vis->map.haze, text);
ReadAttr(elem, "shadowclip", 1, &vis->map.shadowclip, text);
ReadAttr(elem, "shadowscale", 1, &vis->map.shadowscale, text);
ReadAttr(elem, "actuatortendon", 1, &vis->map.actuatortendon, text);
}
// scale sub-element
else if (name=="scale") {
ReadAttr(elem, "forcewidth", 1, &vis->scale.forcewidth, text);
ReadAttr(elem, "contactwidth", 1, &vis->scale.contactwidth, text);
ReadAttr(elem, "contactheight", 1, &vis->scale.contactheight, text);
ReadAttr(elem, "connect", 1, &vis->scale.connect, text);
ReadAttr(elem, "com", 1, &vis->scale.com, text);
ReadAttr(elem, "camera", 1, &vis->scale.camera, text);
ReadAttr(elem, "light", 1, &vis->scale.light, text);
ReadAttr(elem, "selectpoint", 1, &vis->scale.selectpoint, text);
ReadAttr(elem, "jointlength", 1, &vis->scale.jointlength, text);
ReadAttr(elem, "jointwidth", 1, &vis->scale.jointwidth, text);
ReadAttr(elem, "actuatorlength", 1, &vis->scale.actuatorlength, text);
ReadAttr(elem, "actuatorwidth", 1, &vis->scale.actuatorwidth, text);
ReadAttr(elem, "framelength", 1, &vis->scale.framelength, text);
ReadAttr(elem, "framewidth", 1, &vis->scale.framewidth, text);
ReadAttr(elem, "constraint", 1, &vis->scale.constraint, text);
ReadAttr(elem, "slidercrank", 1, &vis->scale.slidercrank, text);
ReadAttr(elem, "frustum", 1, &vis->scale.frustum, text);
}
// rgba sub-element
else if (name=="rgba") {
ReadAttr(elem, "fog", 4, vis->rgba.fog, text);
ReadAttr(elem, "haze", 4, vis->rgba.haze, text);
ReadAttr(elem, "force", 4, vis->rgba.force, text);
ReadAttr(elem, "inertia", 4, vis->rgba.inertia, text);
ReadAttr(elem, "joint", 4, vis->rgba.joint, text);
ReadAttr(elem, "actuator", 4, vis->rgba.actuator, text);
ReadAttr(elem, "actuatornegative", 4, vis->rgba.actuatornegative, text);
ReadAttr(elem, "actuatorpositive", 4, vis->rgba.actuatorpositive, text);
ReadAttr(elem, "com", 4, vis->rgba.com, text);
ReadAttr(elem, "camera", 4, vis->rgba.camera, text);
ReadAttr(elem, "light", 4, vis->rgba.light, text);
ReadAttr(elem, "selectpoint", 4, vis->rgba.selectpoint, text);
ReadAttr(elem, "connect", 4, vis->rgba.connect, text);
ReadAttr(elem, "contactpoint", 4, vis->rgba.contactpoint, text);
ReadAttr(elem, "contactforce", 4, vis->rgba.contactforce, text);
ReadAttr(elem, "contactfriction", 4, vis->rgba.contactfriction, text);
ReadAttr(elem, "contacttorque", 4, vis->rgba.contacttorque, text);
ReadAttr(elem, "contactgap", 4, vis->rgba.contactgap, text);
ReadAttr(elem, "rangefinder", 4, vis->rgba.rangefinder, text);
ReadAttr(elem, "constraint", 4, vis->rgba.constraint, text);
ReadAttr(elem, "slidercrank", 4, vis->rgba.slidercrank, text);
ReadAttr(elem, "crankbroken", 4, vis->rgba.crankbroken, text);
ReadAttr(elem, "frustum", 4, vis->rgba.frustum, text);
ReadAttr(elem, "bv", 4, vis->rgba.bv, text);
ReadAttr(elem, "bvactive", 4, vis->rgba.bvactive, text);
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// asset section parser
void mjXReader::Asset(XMLElement* section) {
int n;
string text, name;
XMLElement* elem;
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
}
// texture sub-element
if (name=="texture") {
// create texture
mjCTexture* ptex = model->AddTexture();
GetXMLPos(elem, ptex);
// read attributes
if (MapValue(elem, "type", &n, texture_map, texture_sz)) {
ptex->type = (mjtTexture)n;
}
ReadAttrTxt(elem, "name", ptex->name);
ReadAttrTxt(elem, "content_type", ptex->content_type);
ReadAttrTxt(elem, "file", ptex->file);
ReadAttrInt(elem, "width", &ptex->width);
ReadAttrInt(elem, "height", &ptex->height);
ReadAttr(elem, "rgb1", 3, ptex->rgb1, text);
ReadAttr(elem, "rgb2", 3, ptex->rgb2, text);
ReadAttr(elem, "markrgb", 3, ptex->markrgb, text);
ReadAttr(elem, "random", 1, &ptex->random, text);
if (MapValue(elem, "builtin", &n, builtin_map, builtin_sz)) {
ptex->builtin = (mjtBuiltin)n;
}
if (MapValue(elem, "mark", &n, mark_map, mark_sz)) {
ptex->mark = (mjtMark)n;
}
if (MapValue(elem, "hflip", &n, bool_map, 2)) {
ptex->hflip = (n!=0);
}
if (MapValue(elem, "vflip", &n, bool_map, 2)) {
ptex->vflip = (n!=0);
}
// grid
ReadAttr(elem, "gridsize", 2, ptex->gridsize, text);
if (ReadAttrTxt(elem, "gridlayout", text)) {
// check length
if (text.length()>12) {
throw mjXError(elem, "gridlayout length cannot exceed 12 characters");
}
if (text.length()!=ptex->gridsize[0]*ptex->gridsize[1]) {
throw mjXError(elem, "gridlayout length must match gridsize");
}
memcpy(ptex->gridlayout, text.data(), text.length());
}
// separate files
ReadAttrTxt(elem, "fileright", ptex->cubefiles[0]);
ReadAttrTxt(elem, "fileleft", ptex->cubefiles[1]);
ReadAttrTxt(elem, "fileup", ptex->cubefiles[2]);
ReadAttrTxt(elem, "filedown", ptex->cubefiles[3]);
ReadAttrTxt(elem, "filefront", ptex->cubefiles[4]);
ReadAttrTxt(elem, "fileback", ptex->cubefiles[5]);
}
// material sub-element
else if (name=="material") {
// create material and parse
mjmMaterial* pmat = mjm_addMaterial(model, def);
OneMaterial(elem, pmat);
}
// mesh sub-element
else if (name=="mesh") {
// create mesh and parse
mjCMesh* pmesh = model->AddMesh(def);
OneMesh(elem, pmesh);
}
// skin sub-element... deprecate ???
else if (name=="skin") {
// create skin and parse
mjCSkin* pskin = model->AddSkin();
OneSkin(elem, pskin);
}
// hfield sub-element
else if (name=="hfield") {
// create hfield
mjCHField* phf = model->AddHField();
GetXMLPos(elem, phf);
// read attributes
ReadAttrTxt(elem, "name", phf->name);
ReadAttrTxt(elem, "content_type", phf->content_type);
ReadAttrTxt(elem, "file", phf->file);
ReadAttrInt(elem, "nrow", &phf->nrow);
ReadAttrInt(elem, "ncol", &phf->ncol);
ReadAttr(elem, "size", 4, phf->size, text, true);
// allocate buffer for dynamic hfield, copy user data if given
if (phf->file.empty() && phf->nrow>0 && phf->ncol>0) {
int nrow = phf->nrow;
int ncol = phf->ncol;
phf->data = (float*) mju_malloc(nrow*ncol*sizeof(float));
// read user data
phf->set_userdata(ReadAttrVec<float>(elem, "elevation"));
// user data given, copy into data
if (!phf->userdata().empty()) {
if (phf->userdata().size() != nrow*ncol) {
throw mjXError(elem, "elevation data length must match nrow*ncol");
}
// copy in reverse row order, so XML string is top-to-bottom
const float* userdata = phf->userdata().data();
for (int i = 0; i < nrow; i++) {
int flip = nrow-1-i;
memcpy(phf->data + flip*ncol, userdata + i*ncol, ncol*sizeof(float));
}
}
// user data not given, set to 0
else {
memset(phf->data, 0, phf->nrow*phf->ncol*sizeof(float));
}
}
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// body/world section parser; recursive
void mjXReader::Body(XMLElement* section, mjmBody* pbody, mjmFrame* frame) {
string text, name;
XMLElement* elem;
int n;
// sanity check
if (!pbody) {
throw mjXError(section, "null body pointer");
}
// no attributes allowed in world body
if (mjm_getId(pbody->element)==0 && section->FirstAttribute() && !frame) {
throw mjXError(section, "World body cannot have attributes");
}
// iterate over sub-elements; attributes set while parsing parent body
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
// get class if specified, otherwise use body
mjCDef* def = GetClass(elem);
if (!def) {
def = (mjCDef*)mjm_getDefault(pbody->element);
}
// inertial sub-element
if (name=="inertial") {
// no inertia allowed in world body
if (mjm_getId(pbody->element)==0) {
throw mjXError(elem, "World body cannot have inertia");
}
pbody->explicitinertial = true;
ReadAttr(elem, "pos", 3, pbody->ipos, text, true);
ReadQuat(elem, "quat", pbody->iquat, text);
ReadAttr(elem, "mass", 1, &pbody->mass, text, true);
ReadAttr(elem, "diaginertia", 3, pbody->inertia, text);
bool alt = ReadAlternative(elem, pbody->ialt);
bool full = ReadAttr(elem, "fullinertia", 6, pbody->fullinertia, text);
if (alt && full) {
throw mjXError(elem, "multiple orientation specifiers are not allowed");
}
}
// joint sub-element
else if (name=="joint") {
// no joints allowed in world body
if (mjm_getId(pbody->element)==0) {
throw mjXError(elem, "World body cannot have joints");
}
// create joint and parse
mjmJoint* pjoint = mjm_addJoint(pbody, def);
OneJoint(elem, pjoint);
mjm_setFrame(pjoint->element, frame);
}
// freejoint sub-element
else if (name=="freejoint") {
// no joints allowed in world body
if (mjm_getId(pbody->element)==0) {
throw mjXError(elem, "World body cannot have joints");
}
// create free joint without defaults
mjmJoint* pjoint = mjm_addFreeJoint(pbody);
mjm_setFrame(pjoint->element, frame);
// save defaults after creation, to make sure writing is ok
mjm_setDefault(pjoint->element, def);
// read attributes
std::string name;
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pjoint->name, name.c_str());
}
ReadAttrInt(elem, "group", &pjoint->group);
}
// geom sub-element
else if (name=="geom") {
// create geom and parse
mjmGeom* pgeom = mjm_addGeom(pbody, def);
OneGeom(elem, pgeom);
mjm_setFrame(pgeom->element, frame);
}
// site sub-element
else if (name=="site") {
// create site and parse
mjmSite* site = mjm_addSite(pbody, def);
OneSite(elem, *site);
mjm_setFrame(site->element, frame);
}
// camera sub-element
else if (name=="camera") {
// create camera and parse
mjmCamera* pcam = mjm_addCamera(pbody, def);
OneCamera(elem, pcam);
mjm_setFrame(pcam->element, frame);
}
// light sub-element
else if (name=="light") {
// create light and parse
mjmLight* plight = mjm_addLight(pbody, def);
OneLight(elem, plight);
mjm_setFrame(plight->element, frame);
}
// plugin sub-element
else if (name == "plugin") {
OnePlugin(elem, &(pbody->plugin));
}
// composite sub-element
else if (name=="composite") {
// parse composite
OneComposite(elem, pbody, def);
}
// flexcomp sub-element
else if (name=="flexcomp") {
// parse flexcomp
OneFlexcomp(elem, pbody);
}
// frame sub-element
else if (name=="frame") {
mjmFrame* pframe = mjm_addFrame(pbody, frame);
mjm_setString(pframe->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
ReadAttr(elem, "pos", 3, pframe->pos, text);
ReadQuat(elem, "quat", pframe->quat, text);
ReadAlternative(elem, pframe->alt);
Body(elem, pbody, pframe);
}
// body sub-element
else if (name=="body") {
// read childdef
mjCDef* childdef = 0;
if (ReadAttrTxt(elem, "childclass", text)) {
childdef = model->FindDef(text);
if (!childdef) {
throw mjXError(elem, "unknown default childclass");
}
}
// create child body
mjmBody* pchild = mjm_addBody(pbody, childdef);
mjm_setString(pchild->info,
std::string("line = " + std::to_string(elem->GetLineNum())).c_str());
// read attributes
std::string name, childclass;
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pchild->name, name.c_str());
}
if (ReadAttrTxt(elem, "childclass", childclass)) {
mjm_setString(pchild->classname, childclass.c_str());
}
ReadAttr(elem, "pos", 3, pchild->pos, text);
ReadQuat(elem, "quat", pchild->quat, text);
if (MapValue(elem, "mocap", &n, bool_map, 2)) {
pchild->mocap = (n==1);
}
ReadAlternative(elem, pchild->alt);
// read gravcomp
ReadAttr(elem, "gravcomp", 1, &pchild->gravcomp, text);
// read userdata
std::vector<double> userdata;
ReadVector(elem, "user", userdata, text);
mjm_setDouble(pchild->userdata, userdata.data(), userdata.size());
// add frame
mjm_setFrame(pchild->element, frame);
// make recursive call
Body(elem, pchild, nullptr);
}
// no match
else {
throw mjXError(elem, "unrecognized model element '%s'", name.c_str());
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// contact section parser
void mjXReader::Contact(XMLElement* section) {
string text, name;
XMLElement* elem;
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
}
// geom pair to include
if (name=="pair") {
// create pair and parse
mjCPair* ppair = model->AddPair(def);
OnePair(elem, ppair);
}
// body pair to exclude
else if (name=="exclude") {
mjCBodyPair* pexclude = model->AddExclude();
GetXMLPos(elem, pexclude);
// read name and body names
ReadAttrTxt(elem, "name", pexclude->name);
ReadAttrTxt(elem, "body1", pexclude->bodyname1, true);
ReadAttrTxt(elem, "body2", pexclude->bodyname2, true);
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// constraint section parser
void mjXReader::Equality(XMLElement* section) {
XMLElement* elem;
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
}
// create equality constraint and parse
mjmEquality* pequality = mjm_addEquality(model, def);
OneEquality(elem, pequality);
// advance to next element
elem = NextSiblingElement(elem);
}
}
// deformable section parser
void mjXReader::Deformable(XMLElement* section) {
string name;
XMLElement* elem;
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// get sub-element name
name = elem->Value();
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
}
// flex sub-element
if (name=="flex") {
// create flex and parse
mjCFlex* pflex = model->AddFlex();
OneFlex(elem, pflex);
}
// skin sub-element
else if (name=="skin") {
// create skin and parse
mjCSkin* pskin = model->AddSkin();
OneSkin(elem, pskin);
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// tendon section parser
void mjXReader::Tendon(XMLElement* section) {
string text, text1;
XMLElement* elem;
double data;
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
}
// create equality constraint and parse
mjmTendon* pten = mjm_addTendon(model, def);
OneTendon(elem, pten);
// process wrap sub-elements
XMLElement* sub = FirstChildElement(elem);
while (sub) {
// get wrap type
string wrap = sub->Value();
mjmWrap* pwrap;;
// read attributes depending on type
if (wrap=="site") {
ReadAttrTxt(sub, "site", text, true);
pwrap = mjm_wrapSite(pten, text.c_str());
}
else if (wrap=="geom") {
ReadAttrTxt(sub, "geom", text, true);
if (!ReadAttrTxt(sub, "sidesite", text1)) {
text1.clear();
}
pwrap = mjm_wrapGeom(pten, text.c_str(), text1.c_str());
}
else if (wrap=="pulley") {
ReadAttr(sub, "divisor", 1, &data, text, true);
pwrap = mjm_wrapPulley(pten, data);
}
else if (wrap=="joint") {
ReadAttrTxt(sub, "joint", text, true);
ReadAttr(sub, "coef", 1, &data, text1, true);
pwrap = mjm_wrapJoint(pten, text.c_str(), data);
}
else {
throw mjXError(sub, "unknown wrap type"); // SHOULD NOT OCCUR
}
mjm_setString(pwrap->info, ("line = " + std::to_string(sub->GetLineNum())).c_str());
// advance to next sub-element
sub = NextSiblingElement(sub);
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// actuator section parser
void mjXReader::Actuator(XMLElement* section) {
XMLElement* elem;
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// get class if specified, otherwise use default0
mjCDef* def = GetClass(elem);
if (!def) {
def = model->defaults[0];
}
// create actuator and parse
mjmActuator* pact = mjm_addActuator(model, def);
OneActuator(elem, pact);
// advance to next element
elem = NextSiblingElement(elem);
}
}
// sensor section parser
void mjXReader::Sensor(XMLElement* section) {
int n;
XMLElement* elem = FirstChildElement(section);
while (elem) {
// create sensor, get string type
mjmSensor* psen = mjm_addSensor(model);
string type = elem->Value();
string text, name, objname, refname;
std::vector<double> userdata;
// read name, noise, userdata
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(psen->name, name.c_str());
}
ReadAttr(elem, "cutoff", 1, &psen->cutoff, text);
ReadAttr(elem, "noise", 1, &psen->noise, text);
if (ReadVector(elem, "user", userdata, text)) {
mjm_setDouble(psen->userdata, userdata.data(), userdata.size());
}
// common robotic sensors, attached to a site
if (type=="touch") {
psen->type = mjSENS_TOUCH;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="accelerometer") {
psen->type = mjSENS_ACCELEROMETER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="velocimeter") {
psen->type = mjSENS_VELOCIMETER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="gyro") {
psen->type = mjSENS_GYRO;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="force") {
psen->type = mjSENS_FORCE;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="torque") {
psen->type = mjSENS_TORQUE;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="magnetometer") {
psen->type = mjSENS_MAGNETOMETER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
} else if (type=="camprojection") {
psen->type = mjSENS_CAMPROJECTION;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
ReadAttrTxt(elem, "camera", refname, true);
psen->reftype = mjOBJ_CAMERA;
} else if (type=="rangefinder") {
psen->type = mjSENS_RANGEFINDER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", objname, true);
}
// sensors related to scalar joints, tendons, actuators
else if (type=="jointpos") {
psen->type = mjSENS_JOINTPOS;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="jointvel") {
psen->type = mjSENS_JOINTVEL;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="tendonpos") {
psen->type = mjSENS_TENDONPOS;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", objname, true);
} else if (type=="tendonvel") {
psen->type = mjSENS_TENDONVEL;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", objname, true);
} else if (type=="actuatorpos") {
psen->type = mjSENS_ACTUATORPOS;
psen->objtype = mjOBJ_ACTUATOR;
ReadAttrTxt(elem, "actuator", objname, true);
} else if (type=="actuatorvel") {
psen->type = mjSENS_ACTUATORVEL;
psen->objtype = mjOBJ_ACTUATOR;
ReadAttrTxt(elem, "actuator", objname, true);
} else if (type=="actuatorfrc") {
psen->type = mjSENS_ACTUATORFRC;
psen->objtype = mjOBJ_ACTUATOR;
ReadAttrTxt(elem, "actuator", objname, true);
} else if (type=="jointactuatorfrc") {
psen->type = mjSENS_JOINTACTFRC;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
}
// sensors related to ball joints
else if (type=="ballquat") {
psen->type = mjSENS_BALLQUAT;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="ballangvel") {
psen->type = mjSENS_BALLANGVEL;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
}
// joint and tendon limit sensors
else if (type=="jointlimitpos") {
psen->type = mjSENS_JOINTLIMITPOS;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="jointlimitvel") {
psen->type = mjSENS_JOINTLIMITVEL;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="jointlimitfrc") {
psen->type = mjSENS_JOINTLIMITFRC;
psen->objtype = mjOBJ_JOINT;
ReadAttrTxt(elem, "joint", objname, true);
} else if (type=="tendonlimitpos") {
psen->type = mjSENS_TENDONLIMITPOS;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", objname, true);
} else if (type=="tendonlimitvel") {
psen->type = mjSENS_TENDONLIMITVEL;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", objname, true);
} else if (type=="tendonlimitfrc") {
psen->type = mjSENS_TENDONLIMITFRC;
psen->objtype = mjOBJ_TENDON;
ReadAttrTxt(elem, "tendon", objname, true);
}
// sensors attached to an object with spatial frame: (x)body, geom, site, camera
else if (type=="framepos") {
psen->type = mjSENS_FRAMEPOS;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
} else if (type=="framequat") {
psen->type = mjSENS_FRAMEQUAT;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
} else if (type=="framexaxis") {
psen->type = mjSENS_FRAMEXAXIS;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
} else if (type=="frameyaxis") {
psen->type = mjSENS_FRAMEYAXIS;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
} else if (type=="framezaxis") {
psen->type = mjSENS_FRAMEZAXIS;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
} else if (type=="framelinvel") {
psen->type = mjSENS_FRAMELINVEL;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
} else if (type=="frameangvel") {
psen->type = mjSENS_FRAMEANGVEL;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "refname", refname, true);
} else if (ReadAttrTxt(elem, "refname", text)) {
throw mjXError(elem, "refname '%s' given but reftype is missing", text.c_str());
}
} else if (type=="framelinacc") {
psen->type = mjSENS_FRAMELINACC;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
} else if (type=="frameangacc") {
psen->type = mjSENS_FRAMEANGACC;
ReadAttrTxt(elem, "objtype", text, true);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname, true);
}
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
else if (type=="subtreecom") {
psen->type = mjSENS_SUBTREECOM;
psen->objtype = mjOBJ_BODY;
ReadAttrTxt(elem, "body", objname, true);
} else if (type=="subtreelinvel") {
psen->type = mjSENS_SUBTREELINVEL;
psen->objtype = mjOBJ_BODY;
ReadAttrTxt(elem, "body", objname, true);
} else if (type=="subtreeangmom") {
psen->type = mjSENS_SUBTREEANGMOM;
psen->objtype = mjOBJ_BODY;
ReadAttrTxt(elem, "body", objname, true);
}
// global sensors
else if (type=="clock") {
psen->type = mjSENS_CLOCK;
psen->objtype = mjOBJ_UNKNOWN;
}
// user-defined sensor
else if (type=="user") {
psen->type = mjSENS_USER;
bool objname_given = ReadAttrTxt(elem, "objname", objname);
if (ReadAttrTxt(elem, "objtype", text)) {
if (!objname_given) {
throw mjXError(elem, "objtype '%s' given but objname is missing", text.c_str());
}
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
} else if (objname_given) {
throw mjXError(elem, "objname '%s' given but objtype is missing", objname.c_str());
}
ReadAttrInt(elem, "dim", &psen->dim, true);
// keywords
if (MapValue(elem, "needstage", &n, stage_map, stage_sz)) {
psen->needstage = (mjtStage)n;
}
if (MapValue(elem, "datatype", &n, datatype_map, datatype_sz)) {
psen->datatype = (mjtDataType)n;
}
}
else if (type=="plugin") {
psen->type = mjSENS_PLUGIN;
OnePlugin(elem, &psen->plugin);
ReadAttrTxt(elem, "objtype", text);
psen->objtype = (mjtObj)mju_str2Type(text.c_str());
ReadAttrTxt(elem, "objname", objname);
if (psen->objtype != mjOBJ_UNKNOWN && objname.empty()) {
throw mjXError(elem, "objtype is specified but objname is not");
}
if (psen->objtype == mjOBJ_UNKNOWN && !objname.empty()) {
throw mjXError(elem, "objname is specified but objtype is not");
}
if (ReadAttrTxt(elem, "reftype", text)) {
psen->reftype = (mjtObj)mju_str2Type(text.c_str());
}
ReadAttrTxt(elem, "refname", refname);
if (psen->reftype != mjOBJ_UNKNOWN && refname.empty()) {
throw mjXError(elem, "reftype is specified but refname is not");
}
if (psen->reftype == mjOBJ_UNKNOWN && !refname.empty()) {
throw mjXError(elem, "refname is specified but reftype is not");
}
}
if (!objname.empty()) {
mjm_setString(psen->objname, objname.c_str());
}
if (!refname.empty()) {
mjm_setString(psen->refname, refname.c_str());
}
// write info
mjm_setString(psen->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
// advance to next element
elem = NextSiblingElement(elem);
}
}
// keyframe section parser
void mjXReader::Keyframe(XMLElement* section) {
string text;
XMLElement* elem;
int n;
double data[1000];
// iterate over child elements
elem = FirstChildElement(section);
while (elem) {
// add keyframe
mjCKey* pk = model->AddKey();
// read name, time
ReadAttrTxt(elem, "name", pk->name);
ReadAttr(elem, "time", 1, &pk->time, text);
// read qpos
n = ReadAttr(elem, "qpos", 1000, data, text, false, false);
if (n) {
pk->qpos.resize(n);
mjuu_copyvec(pk->qpos.data(), data, n);
}
// read qvel
n = ReadAttr(elem, "qvel", 1000, data, text, false, false);
if (n) {
pk->qvel.resize(n);
mjuu_copyvec(pk->qvel.data(), data, n);
}
// read act
n = ReadAttr(elem, "act", 1000, data, text, false, false);
if (n) {
pk->act.resize(n);
mjuu_copyvec(pk->act.data(), data, n);
}
// read mpos
n = ReadAttr(elem, "mpos", 1000, data, text, false, false);
if (n) {
pk->mpos.resize(n);
mjuu_copyvec(pk->mpos.data(), data, n);
}
// read mquat
n = ReadAttr(elem, "mquat", 1000, data, text, false, false);
if (n) {
pk->mquat.resize(n);
mjuu_copyvec(pk->mquat.data(), data, n);
}
// read ctrl
n = ReadAttr(elem, "ctrl", 1000, data, text, false, false);
if (n) {
pk->ctrl.resize(n);
mjuu_copyvec(pk->ctrl.data(), data, n);
}
// advance to next element
elem = NextSiblingElement(elem);
}
}
// get defaults class
mjCDef* mjXReader::GetClass(XMLElement* section) {
string text;
mjCDef* def = 0;
if (ReadAttrTxt(section, "class", text)) {
def = model->FindDef(text);
if (!def) {
throw mjXError(section, "unknown default class");
}
}
return def;
}
// get xml position
void mjXReader::GetXMLPos(XMLElement* elem, mjCBase* obj) {
obj->info = "line = " + std::to_string(elem->GetLineNum());
}
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