Commit 985d094 regenerated dm_control/mjcf/schema.xml and dropped three declarations that were present before and that MuJoCo 3.12 still accepts. All three reproduce at HEAD (6b3298d) with mujoco 3.12.0.
1. <sensor> lost its <contact> child
from dm_control import mjcf
xml = """<mujoco>
<worldbody><body name="b"><joint name="j" type="slide"/><geom name="g" size="0.1"/></body></worldbody>
<sensor><contact name="cs" geom1="g" num="1" data="found" reduce="netforce"/></sensor>
</mujoco>"""
mjcf.from_xml_string(xml)
# KeyError: "Line ...: error while parsing element <contact>: 'contact'"
mujoco.MjModel.from_xml_string(xml) loads the same model fine.
2. jointinparent degraded from reference to string on all nine actuator elements
Because it is no longer a type="reference" reference_namespace="joint" attribute, attach() does not prefix the joint name, and the composed model fails to compile:
child = mjcf.RootElement(model='child')
body = child.worldbody.add('body', name='b')
body.add('joint', name='j', type='hinge')
body.add('geom', name='g', size=[0.1])
child.actuator.add('general', name='a', jointinparent='j')
parent = mjcf.RootElement(model='parent')
parent.attach(child)
mjcf.Physics.from_mjcf_model(parent)
# Error: unknown transmission target 'j' for actuator id = 03. custom/numeric data degraded from float array to string
root = mjcf.RootElement(model='m')
root.custom.add('numeric', name='x', data=[1, 2, 3])
# ValueError: during initialization of attribute 'data' of element <numeric>: Expect a string value: got [1, 2, 3]This worked on the prior release.
In all three cases the pre-regeneration schema (985d0940^) had the correct declaration; restoring those three pieces fixes all three without affecting the rest of the mjcf test suite. PR incoming with the restore plus regression tests. If the preferred fix is in the schema generator rather than the checked-in file, the repro set here should transfer directly.
Commit 985d094 regenerated
dm_control/mjcf/schema.xmland dropped three declarations that were present before and that MuJoCo 3.12 still accepts. All three reproduce at HEAD (6b3298d) with mujoco 3.12.0.1.
<sensor>lost its<contact>childmujoco.MjModel.from_xml_string(xml)loads the same model fine.2.
jointinparentdegraded from reference to string on all nine actuator elementsBecause it is no longer a
type="reference" reference_namespace="joint"attribute,attach()does not prefix the joint name, and the composed model fails to compile:3.
custom/numericdatadegraded from float array to stringThis worked on the prior release.
In all three cases the pre-regeneration schema (
985d0940^) had the correct declaration; restoring those three pieces fixes all three without affecting the rest of the mjcf test suite. PR incoming with the restore plus regression tests. If the preferred fix is in the schema generator rather than the checked-in file, the repro set here should transfer directly.