more shit

src/Mujoco.MJCF.Asset.purs

@@ -148,5 +148,3 @@ type Props_model =
   )
 model = tagNoContent @Props_model "model" :: TagNoContent Props_model
 
-type Props_plugin = (plugin :: String, instance :: String)
-plugin = tag @Props_plugin "plugin" :: Tag Props_plugin

src/Mujoco.MJCF.Body.purs

@@ -1,7 +1,38 @@
-module Mujoco.MJCF.Body where
+module Mujoco.MJCF.Body
+  ( CameraMode(..)
+  , CameraOutput(..)
+  , JointType(..)
+  , LightType(..)
+  , Projection(..)
+  , Props_attach
+  , Props_body
+  , Props_camera
+  , Props_frame
+  , Props_freejoint
+  , Props_inertial
+  , Props_joint
+  , Props_light
+  , Props_site
+  , SiteType(..)
+  , SleepPolicy(..)
+  , attach
+  , body
+  , camera
+  , frame
+  , freejoint
+  , inertial
+  , joint
+  , light
+  , site
+  , worldbody
+  , module X
+  )
+  where
 
 import Mujoco.Prelude
 
+import Mujoco.MJCF.Geom (Props_geom, geom) as X
+
 data SleepPolicy = SleepAuto | SleepNever | SleepAllowed | SleepInit
 instance Serialize SleepPolicy where
   serialize SleepAuto = "auto"
@@ -46,12 +77,6 @@ instance Serialize JointType where
   serialize Slide = "slide"
   serialize Hinge = "hinge"
 
-data AutoBool = AutoBoolFalse | AutoBoolTrue | AutoBoolAuto
-instance Serialize AutoBool where
-  serialize AutoBoolFalse = "false"
-  serialize AutoBoolTrue = "true"
-  serialize AutoBoolAuto = "auto"
-
 type Props_joint =
   ( name :: String
   , class :: String
@@ -66,9 +91,9 @@ type Props_joint =
   , solimpfriction :: Vec5 Real
   , stiffness :: Real
   , range :: Real /\ Real
-  , limited :: AutoBool
+  , limited :: Auto \/ Boolean
   , actuatorfrcrange :: Real /\ Real
-  , actuatorfrclimited :: AutoBool
+  , actuatorfrclimited :: Auto \/ Boolean
   , actuatorgravcomp :: Boolean
   , margin :: Real
   , ref :: Real
@@ -83,64 +108,10 @@ joint = tagNoContent @Props_joint "joint" :: TagNoContent Props_joint
 type Props_freejoint =
   ( name :: String
   , group :: Int
-  , align :: AutoBool
+  , align :: Auto \/ Boolean
   )
 freejoint = tagNoContent @Props_freejoint "freejoint" :: TagNoContent Props_freejoint
 
-data GeomType = GPlane | GHfield | GSphere | GCapsule | GEllipsoid | GCylinder | GBox | GMesh | GSdf
-instance Serialize GeomType where
-  serialize GPlane = "plane"
-  serialize GHfield = "hfield"
-  serialize GSphere = "sphere"
-  serialize GCapsule = "capsule"
-  serialize GEllipsoid = "ellipsoid"
-  serialize GCylinder = "cylinder"
-  serialize GBox = "box"
-  serialize GMesh = "mesh"
-  serialize GSdf = "sdf"
-
-data FluidShape = FluidNone | FluidEllipsoid
-instance Serialize FluidShape where
-  serialize FluidNone = "none"
-  serialize FluidEllipsoid = "ellipsoid"
-
-type Props_geom =
-  ( name :: String
-  , class :: String
-  , type :: GeomType
-  , contype :: Int
-  , conaffinity :: Int
-  , condim :: Int
-  , group :: Int
-  , priority :: Int
-  , size :: Array Real
-  , material :: String
-  , rgba :: Vec4 Real
-  , friction :: Vec Real
-  , mass :: Real
-  , density :: Real
-  , shellinertia :: Boolean
-  , solmix :: Real
-  , solref :: Real /\ Real
-  , solimp :: Vec5 Real
-  , margin :: Real
-  , gap :: Real
-  , fromto :: Array Real
-  , pos :: Vec Real
-  , quat :: Vec4 Real
-  , axisangle :: Vec4 Real
-  , xyaxes :: Array Real
-  , zaxis :: Vec Real
-  , euler :: Vec Real
-  , hfield :: String
-  , mesh :: String
-  , fitscale :: Real
-  , fluidshape :: FluidShape
-  , fluidcoef :: Vec5 Real
-  , user :: Array Real
-  )
-geom = tag @Props_geom "geom" :: Tag Props_geom
-
 data SiteType = SiteSphere | SiteCapsule | SiteEllipsoid | SiteCylinder | SiteBox
 instance Serialize SiteType where
   serialize SiteSphere = "sphere"
@@ -246,3 +217,22 @@ type Props_light =
 light = tagNoContent @Props_light "light" :: TagNoContent Props_light
 
 -- TODO: body/composite reuses row types of joint, geom, site, skin, plugin
+
+type Props_attach =
+  ( model :: String
+  , body :: String
+  , prefix :: String
+  )
+attach = tagNoContent @Props_attach "attach" :: TagNoContent Props_attach
+
+type Props_frame =
+  ( name :: String
+  , childclass :: String
+  , pos :: Vec Real
+  , quat :: Vec4 Real
+  , axisangle :: Vec4 Real
+  , xyaxes :: Array Real
+  , zaxis :: Vec Real
+  , euler :: Vec Real
+  )
+frame = tagNoContent @Props_frame "frame" :: TagNoContent Props_frame

src/Mujoco.MJCF.Common.purs

@@ -0,0 +1,24 @@
+module Mujoco.MJCF.Common where
+
+import Data.Tuple.Nested (type (/\))
+import Mujoco.XML.Node.Prop (class Serialize)
+
+type Named r = (name :: String | r)
+type Pos r = (pos :: Vec Real | r)
+type Oriented r =
+  ( quat :: Vec4 Real
+  , axisangle :: Vec4 Real
+  , xyaxes :: Array Real
+  , zaxis :: Vec Real
+  , euler :: Vec Real
+  | r
+  )
+
+data Auto = Auto
+instance Serialize Auto where
+  serialize Auto = "auto"
+
+type Real = Number
+type Vec a = a /\ a /\ a
+type Vec4 a = a /\ a /\ a /\ a
+type Vec5 a = a /\ a /\ a /\ a /\ a

src/Mujoco.MJCF.Contact.purs

@@ -0,0 +1,27 @@
+module Mujoco.MJCF.Contact where
+
+import Mujoco.Prelude
+
+contact = tag @() "contact" :: Tag ()
+
+type Props_pair =
+  ( name :: String
+  , class :: String
+  , geom1 :: String
+  , geom2 :: String
+  , condim :: Int
+  , friction :: Vec5 Real
+  , solref :: Real /\ Real
+  , solimp :: Vec5 Real
+  , solreffriction :: Real /\ Real
+  , margin :: Real
+  , gap :: Real
+  )
+pair = tagNoContent @Props_pair "pair" :: TagNoContent Props_pair
+
+type Props_exclude =
+  ( name :: String
+  , body1 :: String
+  , body2 :: String
+  )
+exclude = tagNoContent @Props_exclude "exclude" :: TagNoContent Props_exclude

src/Mujoco.MJCF.Deformable.Flex.purs

@@ -0,0 +1,65 @@
+module Mujoco.MJCF.Deformable.Flex where
+
+import Mujoco.Prelude
+import Mujoco.MJCF.Geom as Geom
+
+type Props_flex =
+  ( name :: String
+  , dim :: Int
+  , radius :: Real
+  , body :: Array String
+  , vertex :: Array Real
+  , texcoord :: Array Real
+  , elemtexcoord :: Array Int
+  , element :: Array Int
+  , flatskin :: Boolean
+  , material :: String
+  , rgba :: Vec4 Real
+  , group :: Int
+  , node :: Array String
+  )
+flex = tag @Props_flex "flex" :: Tag Props_flex
+
+type Props_edge =
+  ( stiffness :: Real
+  , damping :: Real
+  )
+edge = tagNoContent @Props_edge "edge" :: TagNoContent Props_edge
+
+data Elastic2d = Elastic2dNone | Elastic2dBend | Elastic2dStretch | Elastic2dBoth
+instance Serialize Elastic2d where
+  serialize Elastic2dNone = "none"
+  serialize Elastic2dBend = "bend"
+  serialize Elastic2dStretch = "stretch"
+  serialize Elastic2dBoth = "both"
+
+type Props_elasticity =
+  ( young :: Real
+  , poisson :: Real
+  , damping :: Real
+  , thickness :: Real
+  , elastic2d :: Elastic2d
+  )
+elasticity = tagNoContent @Props_elasticity "elasticity" :: TagNoContent Props_elasticity
+
+data SelfCollide = SelfCollideNone | SelfCollideNarrow | SelfCollideBvh | SelfCollideSap | SelfCollideAuto
+instance Serialize SelfCollide where
+  serialize SelfCollideNone = "none"
+  serialize SelfCollideNarrow = "narrow"
+  serialize SelfCollideBvh = "bvh"
+  serialize SelfCollideSap = "sap"
+  serialize SelfCollideAuto = "auto"
+
+type Props_contact =
+  ( internal :: Boolean
+  , selfcollide :: SelfCollide
+  , vertcollide :: Boolean
+  , activelayers :: Int
+  , priority :: Int
+  , friction :: Vec Real
+  , passive :: Boolean
+  | Geom.Solver
+  + Geom.Contact
+  + Geom.ContactSpacing ()
+  )
+contact = tagNoContent @Props_contact "contact" :: TagNoContent Props_contact

src/Mujoco.MJCF.Deformable.Skin.purs

@@ -0,0 +1,25 @@
+module Mujoco.MJCF.Deformable.Skin where
+
+import Mujoco.Prelude
+
+type Props_skin =
+  ( name :: String
+  , file :: String
+  , vertex :: Array Real
+  , texcoord :: Array Real
+  , face :: Array Int
+  , inflate :: Real
+  , material :: String
+  , rgba :: Vec4 Real
+  , group :: Int
+  )
+skin = tag @Props_skin "skin" :: Tag Props_skin
+
+type Props_bone =
+  ( body :: String
+  , bindpos :: Vec Real
+  , bindquat :: Vec4 Real
+  , vertid :: Array Int
+  , vertweight :: Array Real
+  )
+bone = tagNoContent @Props_bone "bone" :: TagNoContent Props_bone

src/Mujoco.MJCF.Deformable.purs

@@ -0,0 +1,5 @@
+module Mujoco.MJCF.Deformable where
+
+import Mujoco.Prelude
+
+deformable = tag @() "deformable" :: Tag ()

src/Mujoco.MJCF.Equality.purs

@@ -0,0 +1,63 @@
+module Mujoco.MJCF.Equality where
+
+import Mujoco.Prelude
+
+type Common r =
+  ( class :: String
+  , active :: Boolean
+  , solref :: Real /\ Real
+  , solimp :: Vec5 Real
+  | Named r
+  )
+
+equality = tag @() "equality" :: Tag ()
+
+type Props_connect =
+  ( body1 :: String
+  , body2 :: String
+  , anchor :: Vec Real
+  , site1 :: String
+  , site2 :: String
+  | Common ()
+  )
+connect = tag @Props_connect "connect" :: Tag Props_connect
+
+type Props_weld =
+  ( body1 :: String
+  , body2 :: String
+  , relpose :: Array Real
+  , anchor :: Vec Real
+  , site1 :: String
+  , site2 :: String
+  , torquescale :: Real
+  | Common ()
+  )
+weld = tagNoContent @Props_weld "weld" :: TagNoContent Props_weld
+
+type Props_joint =
+  ( joint1 :: String
+  , joint2 :: String
+  , polycoef :: Vec5 Real
+  | Common ()
+  )
+joint = tagNoContent @Props_joint "joint" :: TagNoContent Props_joint
+
+type Props_tendon =
+  ( tendon1 :: String
+  , tendon2 :: String
+  , polycoef :: Vec5 Real
+  | Common ()
+  )
+tendon = tagNoContent @Props_tendon "tendon" :: TagNoContent Props_tendon
+
+type Props_flex =
+  ( flex :: String
+  | Common ()
+  )
+flex = tagNoContent @Props_flex "flex" :: TagNoContent Props_flex
+
+type Props_flexvert =
+  ( flex :: String
+  | Common ()
+  )
+flexvert = tagNoContent @Props_flexvert "flexvert" :: TagNoContent Props_flexvert

src/Mujoco.MJCF.Geom.purs

@@ -0,0 +1,69 @@
+module Mujoco.MJCF.Geom where
+
+import Mujoco.Prelude
+import Prim hiding (Type)
+
+data FluidShape = FluidNone | FluidEllipsoid
+instance Serialize FluidShape where
+  serialize FluidNone = "none"
+  serialize FluidEllipsoid = "ellipsoid"
+
+data Type = Plane | Hfield | Sphere | Capsule | Ellipsoid | Cylinder | Box | Mesh | Sdf
+instance Serialize Type where
+  serialize Plane = "plane"
+  serialize Hfield = "hfield"
+  serialize Sphere = "sphere"
+  serialize Capsule = "capsule"
+  serialize Ellipsoid = "ellipsoid"
+  serialize Cylinder = "cylinder"
+  serialize Box = "box"
+  serialize Mesh = "mesh"
+  serialize Sdf = "sdf"
+
+type Contact r =
+  ( contype :: Int
+  , conaffinity :: Int
+  , condim :: Int
+  , priority :: Int
+  | r
+  )
+
+type ContactSpacing r =
+  ( margin :: Real
+  , gap :: Real
+  | r
+  )
+
+type Solver r =
+  ( solmix :: Real
+  , solref :: Real /\ Real
+  , solimp :: Vec5 Real
+  | r
+  )
+
+type Props_geom =
+    ( class :: String
+    , type :: Type
+    , group :: Int
+    , size :: Array Real
+    , material :: String
+    , rgba :: Vec4 Real
+    , friction :: Vec Real
+    , mass :: Real
+    , density :: Real
+    , shellinertia :: Boolean
+    , fromto :: Array Real
+    , hfield :: String
+    , mesh :: String
+    , fitscale :: Real
+    , fluidshape :: FluidShape
+    , fluidcoef :: Vec5 Real
+    , user :: Array Real
+    | Named
+    + Contact
+    + ContactSpacing
+    + Solver
+    + Pos
+    + Oriented ()
+    )
+geom = tag @Props_geom "geom" :: Tag Props_geom

src/Mujoco.MJCF.Tendon.purs

@@ -0,0 +1,47 @@
+module Mujoco.MJCF.Tendon where
+
+import Mujoco.Prelude
+
+type Common r =
+  ( class :: String
+  , group :: Int
+  , limited :: Auto \/ Boolean
+  , range :: Real /\ Real
+  , solimplimit :: Vec5 Real
+  , solimpfriction :: Vec5 Real
+  , solreflimit :: Real /\ Real
+  , solreffriction :: Real /\ Real
+  , margin :: Real
+  , frictionloss :: Real
+  , springlength :: Real /\ Real
+  , stiffness :: Real
+  , damping :: Real
+  , user :: Array Real
+  | Named r
+  )
+
+type Props_spatial =
+  ( actuatorfrcrange :: Real /\ Real
+  , actuatorfrclimited :: Auto \/ Boolean
+  , width :: Real
+  , material :: String
+  , rgba :: Vec4 Real
+  , armature :: Real
+  | Common ()
+  )
+spatial = tag @Props_spatial "spatial" :: Tag Props_spatial
+
+type Props_site = (site :: String)
+site = tagNoContent @Props_site "site" :: TagNoContent Props_site
+
+type Props_pulley = (divisor :: Real)
+pulley = tagNoContent @Props_pulley "pulley" :: TagNoContent Props_pulley
+
+type Props_geom = (geom :: String, sidesite :: String)
+geom = tagNoContent @Props_geom "geom" :: TagNoContent Props_geom
+
+type Props_fixed = Common ()
+fixed = tag @Props_fixed "fixed" :: Tag Props_fixed
+
+type Props_joint = (joint :: String, coef :: Real)
+joint = tagNoContent @Props_joint "joint" :: TagNoContent Props_joint

src/Mujoco.MJCF.purs

@@ -12,7 +12,9 @@ module Mujoco.MJCF
   , Props_size
   , Props_mujoco
   , Props_statistic
+  , Props_plugin
   , Solver(..)
+  , plugin
   , compiler
   , flag
   , mujoco
@@ -24,8 +26,11 @@ module Mujoco.MJCF
   where
 
 import Mujoco.Prelude
+
 import Mujoco.MJCF.Asset as X
 import Mujoco.MJCF.Body as X
+import Mujoco.MJCF.Common (Auto(..)) as X
+import Mujoco.MJCF.Contact as X
 import Mujoco.XML.Node (empty, text, fragment) as X
 
 type Props_mujoco = (model :: String)
@@ -184,3 +189,7 @@ type Props_statistic =
   )
 statistic = tagNoContent @Props_statistic "statistic" :: TagNoContent Props_statistic
 
+type Props_plugin = (plugin :: String, instance :: String)
+
+-- | `body/plugin`, `asset/mesh/plugin`
+plugin = tag @Props_plugin "plugin" :: Tag Props_plugin

src/Mujoco.Prelude.purs

@@ -1,6 +1,9 @@
-module Mujoco.Prelude (module X, Real, Vec, Vec4, Vec5) where
+module Mujoco.Prelude (module X) where
 
+import Type.Row (type (+)) as X
 import Prelude (class Applicative, class Apply, class Bind, class BooleanAlgebra, class Bounded, class Category, class CommutativeRing, class Discard, class DivisionRing, class Eq, class EuclideanRing, class Field, class Functor, class HeytingAlgebra, class Monad, class Monoid, class Ord, class Ring, class Semigroup, class Semigroupoid, class Semiring, class Show, type (~>), Ordering(..), Unit, Void, absurd, add, ap, append, apply, between, bind, bottom, clamp, compare, comparing, compose, conj, const, degree, discard, disj, div, eq, flap, flip, gcd, identity, ifM, join, lcm, liftA1, liftM1, map, max, mempty, min, mod, mul, negate, not, notEq, one, otherwise, pure, recip, show, sub, top, unit, unless, unlessM, void, when, whenM, zero, (#), ($), ($>), (&&), (*), (*>), (+), (-), (/), (/=), (<), (<#>), (<$), (<$>), (<*), (<*>), (<<<), (<=), (<=<), (<>), (<@>), (=<<), (==), (>), (>=), (>=>), (>>=), (>>>), (||)) as X
+import Data.Either.Nested ((\/), type (\/)) as X
+import Mujoco.MJCF.Common as X
 import Mujoco.XML.Node
   ( tag
   , tagNoContent
@@ -12,10 +15,4 @@ import Mujoco.XML.Node.Prop (class Serialize, serialize) as X
 
 import Data.Tuple (Tuple(..)) as X
 import Data.Tuple.Nested (type (/\), (/\)) as X
-import Data.Tuple.Nested (type (/\))
 import Data.Maybe (Maybe(..), maybe, fromMaybe) as X
-
-type Real = Number
-type Vec a = a /\ a /\ a
-type Vec4 a = a /\ a /\ a /\ a
-type Vec5 a = a /\ a /\ a /\ a /\ a

src/Mujoco.XML.Node.Prop.purs

@@ -3,6 +3,7 @@ module Mujoco.XML.Node.Prop (class Serialize, serialize, serializeProps, class S
 import Prelude
 
 import Data.Array as Array
+import Data.Either (Either, either)
 import Data.Int as Int
 import Data.Map (Map)
 import Data.Map as Map
@@ -32,6 +33,8 @@ else instance Serialize Number where
   serialize = Number.toString
 else instance Serialize Boolean where
   serialize = show
+else instance (Serialize a, Serialize b) => Serialize (Either a b) where
+  serialize = either serialize serialize
 else instance Serialize a => Serialize (Array a) where
   serialize = Array.intercalate " " <<< map serialize
 else instance (Serialize a, Serialize b) => Serialize (Tuple a b) where

test/Mujoco.MJCF.purs

@@ -8,6 +8,7 @@ import Data.Tuple.Nested ((/\))
 import Effect.Aff (Aff)
 import Effect.Class (liftEffect)
 import Mujoco.MJCF as X
+import Mujoco.MJCF.Geom as X.G
 import Mujoco.Wasm (renderSpec)
 import Mujoco.XML.Node (Node)
 import Mujoco.XML.Node as XML
@@ -132,52 +133,52 @@ spec =
         it "hinge" $ ok $ w $
           X.body { name: "b1", pos: 0.0 /\ 0.0 /\ 0.5 }
             [ X.joint { type: X.Hinge, axis: 1.0 /\ 0.0 /\ 0.0 }
-            , X.geom { type: X.GSphere, size: [0.1, 0.0, 0.0] } unit
+            , X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
             ]
 
         it "slide with range" $ ok $ w $
           X.body { name: "slider", pos: 0.0 /\ 0.0 /\ 1.0 }
             [ X.joint { type: X.Slide, axis: 0.0 /\ 0.0 /\ 1.0, range: (-1.0) /\ 1.0, limited: X.AutoBoolTrue }
-            , X.geom { type: X.GBox, size: [0.1, 0.1, 0.1] } unit
+            , X.geom { type: X.G.Box, size: [0.1, 0.1, 0.1] } unit
             ]
 
         it "stiffness + damping" $ ok $ w $
           X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
             [ X.joint { type: X.Hinge, stiffness: 100.0, damping: 10.0, armature: 0.1 }
-            , X.geom { type: X.GSphere, size: [0.05, 0.0, 0.0] } unit
+            , X.geom { type: X.G.Sphere, size: [0.05, 0.0, 0.0] } unit
             ]
 
       describe "freejoint" do
         it "basic" $ ok $ w $
           X.body { name: "free_body", pos: 0.0 /\ 0.0 /\ 1.0 }
             [ X.freejoint { name: "fj" }
-            , X.geom { type: X.GSphere, size: [0.1, 0.0, 0.0] } unit
+            , X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
             ]
 
       describe "geom" do
         it "sphere" $ ok $ w $
-          X.geom { type: X.GSphere, size: [1.0, 0.0, 0.0] } unit
+          X.geom { type: X.G.Sphere, size: [1.0, 0.0, 0.0] } unit
 
         it "capsule fromto" $ ok $ w $
-          X.geom { type: X.GCapsule, fromto: [0.0, 0.0, 0.0, 0.0, 0.0, 1.0], size: [0.05, 0.0, 0.0] } unit
+          X.geom { type: X.G.Capsule, fromto: [0.0, 0.0, 0.0, 0.0, 0.0, 1.0], size: [0.05, 0.0, 0.0] } unit
 
         it "box with material" $ ok $ X.mujoco {}
           [ X.asset {}
               [ X.material { name: "red", rgba: 1.0 /\ 0.0 /\ 0.0 /\ 1.0 } unit ]
           , X.worldbody {} $
-              X.geom { type: X.GBox, size: [0.5, 0.5, 0.5], material: "red" } unit
+              X.geom { type: X.G.Box, size: [0.5, 0.5, 0.5], material: "red" } unit
           ]
 
         it "plane" $ ok $ w $
-          X.geom { type: X.GPlane, size: [5.0, 5.0, 0.1] } unit
+          X.geom { type: X.G.Plane, size: [5.0, 5.0, 0.1] } unit
 
         it "friction + density" $ ok $ w $
-          X.geom { type: X.GSphere, size: [0.1, 0.0, 0.0], friction: 0.5 /\ 0.005 /\ 0.0001, density: 500.0 } unit
+          X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0], friction: 0.5 /\ 0.005 /\ 0.0001, density: 500.0 } unit
 
       describe "site" do
         it "basic" $ ok $ w $
           X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
-            [ X.geom { type: X.GSphere, size: [0.1, 0.0, 0.0] } unit
+            [ X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
             , X.site { name: "s1", pos: 0.0 /\ 0.0 /\ 0.1, size: 0.01 /\ 0.01 /\ 0.01 }
             ]
 
@@ -187,7 +188,7 @@ spec =
 
         it "tracking" $ ok $ w $
           X.body { name: "target_body", pos: 0.0 /\ 0.0 /\ 0.5 }
-            [ X.geom { type: X.GSphere, size: [0.1, 0.0, 0.0] } unit
+            [ X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
             , X.camera { name: "tracker", mode: X.CamTargetbody, target: "target_body", pos: 1.0 /\ 0.0 /\ 0.5 }
             ]
 
@@ -202,7 +203,7 @@ spec =
         it "explicit mass + diaginertia" $ ok $ w $
           X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
             [ X.inertial { pos: 0.0 /\ 0.0 /\ 0.0, mass: 1.0, diaginertia: 0.01 /\ 0.01 /\ 0.01 }
-            , X.geom { type: X.GSphere, size: [0.1, 0.0, 0.0] } unit
+            , X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
             ]
 
     describe "composite" do
@@ -217,11 +218,11 @@ spec =
                 , X.material { name: "floor_mat", texture: "grid", texrepeat: 5.0 /\ 5.0 } unit
                 ]
             , X.worldbody {}
-                [ X.geom { type: X.GPlane, size: [5.0, 5.0, 0.1], material: "floor_mat" } unit
+                [ X.geom { type: X.G.Plane, size: [5.0, 5.0, 0.1], material: "floor_mat" } unit
                 , X.light { name: "top", pos: 0.0 /\ 0.0 /\ 3.0, dir: 0.0 /\ 0.0 /\ (-1.0) }
                 , X.body { name: "ball", pos: 0.0 /\ 0.0 /\ 1.0 }
                     [ X.freejoint {}
-                    , X.geom { type: X.GSphere, size: [0.1, 0.0, 0.0], rgba: 1.0 /\ 0.0 /\ 0.0 /\ 1.0 } unit
+                    , X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0], rgba: 1.0 /\ 0.0 /\ 0.0 /\ 1.0 } unit
                     ]
                 ]
             ]
@@ -231,19 +232,19 @@ spec =
         , X.body {}
           [ X.joint { name: "v0_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
           , X.joint { name: "v0_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
-          , X.geom { type: X.GCylinder, size: [1.0, 0.05] } unit
+          , X.geom { type: X.G.Cylinder, size: [1.0, 0.05] } unit
           , X.body { pos: zero /\ zero /\ 0.51 }
             [ X.joint { name: "b0a_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
             , X.joint { name: "b0a_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
-            , X.geom { type: X.GCylinder, size: [0.05, 0.5] } unit
+            , X.geom { type: X.G.Cylinder, size: [0.05, 0.5] } unit
             , X.body { pos: zero /\ zero /\ one }
               [ X.joint { name: "b0b_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
               , X.joint { name: "b0b_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
-              , X.geom { type: X.GCylinder, size: [0.05, 0.5] } unit
+              , X.geom { type: X.G.Cylinder, size: [0.05, 0.5] } unit
               , X.body { pos: zero /\ zero /\ 0.5 }
                 [ X.joint { name: "v1_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
                 , X.joint { name: "v1_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
-                , X.geom { type: X.GCylinder, size: [1.0, 0.05] } unit
+                , X.geom { type: X.G.Cylinder, size: [1.0, 0.05] } unit
                 ]
               ]
             ]