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mjcf: restore schema declarations lost in the schema.xml regeneration #553

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42 changes: 32 additions & 10 deletions dm_control/mjcf/schema.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2193,7 +2193,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="tendon" type="reference" reference_namespace="tendon"/>
<attribute name="slidersite" type="reference" reference_namespace="site"/>
<attribute name="cranksite" type="reference" reference_namespace="site"/>
Expand Down Expand Up @@ -2232,7 +2232,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="tendon" type="reference" reference_namespace="tendon"/>
<attribute name="slidersite" type="reference" reference_namespace="site"/>
<attribute name="cranksite" type="reference" reference_namespace="site"/>
Expand Down Expand Up @@ -2260,7 +2260,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="tendon" type="reference" reference_namespace="tendon"/>
<attribute name="slidersite" type="reference" reference_namespace="site"/>
<attribute name="cranksite" type="reference" reference_namespace="site"/>
Expand Down Expand Up @@ -2291,7 +2291,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="tendon" type="reference" reference_namespace="tendon"/>
<attribute name="slidersite" type="reference" reference_namespace="site"/>
<attribute name="cranksite" type="reference" reference_namespace="site"/>
Expand Down Expand Up @@ -2322,7 +2322,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="tendon" type="reference" reference_namespace="tendon"/>
<attribute name="slidersite" type="reference" reference_namespace="site"/>
<attribute name="cranksite" type="reference" reference_namespace="site"/>
Expand Down Expand Up @@ -2372,7 +2372,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="tendon" type="reference" reference_namespace="tendon"/>
<attribute name="slidersite" type="reference" reference_namespace="site"/>
<attribute name="cranksite" type="reference" reference_namespace="site"/>
Expand Down Expand Up @@ -2400,7 +2400,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="tendon" type="reference" reference_namespace="tendon"/>
<attribute name="slidersite" type="reference" reference_namespace="site"/>
<attribute name="cranksite" type="reference" reference_namespace="site"/>
Expand Down Expand Up @@ -2431,7 +2431,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="tendon" type="reference" reference_namespace="tendon"/>
<attribute name="slidersite" type="reference" reference_namespace="site"/>
<attribute name="cranksite" type="reference" reference_namespace="site"/>
Expand Down Expand Up @@ -2486,7 +2486,7 @@
<attribute name="armature" type="float"/>
<attribute name="cranklength" type="float"/>
<attribute name="joint" type="reference" reference_namespace="joint"/>
<attribute name="jointinparent" type="string"/>
<attribute name="jointinparent" type="reference" reference_namespace="joint"/>
<attribute name="site" type="reference" reference_namespace="site"/>
<attribute name="actdim" type="int" default="-1"/>
<attribute name="dyntype" type="keyword" valid_values="none integrator filter filterexact muscle dcmotor pid user" default="none"/>
Expand Down Expand Up @@ -3128,6 +3128,28 @@
<attribute name="user" type="array" array_type="float"/>
</attributes>
</element>
<element name="contact" repeated="true" namespace="sensor">
<attributes>
<attribute name="name" type="identifier"/>
<attribute name="noise" type="float"/>
<attribute name="cutoff" type="float"/>
<attribute name="nsample" type="int"/>
<attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
<attribute name="delay" type="float"/>
<attribute name="interval" type="array" array_type="float" array_size="2"/>
<attribute name="user" type="array" array_type="float"/>
<attribute name="num" type="int"/>
<attribute name="data" type="string"/>
<attribute name="reduce" type="keyword" valid_values="none mindist maxforce netforce"/>
<attribute name="site" type="reference"/>
<attribute name="body1" type="reference" reference_namespace="body"/>
<attribute name="body2" type="reference" reference_namespace="body"/>
<attribute name="subtree1" type="reference" reference_namespace="body"/>
<attribute name="subtree2" type="reference" reference_namespace="body"/>
<attribute name="geom1" type="reference" reference_namespace="geom"/>
<attribute name="geom2" type="reference" reference_namespace="geom"/>
</attributes>
</element>
<element name="tactile" repeated="true" namespace="sensor">
<attributes>
<attribute name="name" type="identifier"/>
Expand Down Expand Up @@ -3182,7 +3204,7 @@
<attributes>
<attribute name="name" type="identifier" required="true"/>
<attribute name="size" type="int"/>
<attribute name="data" type="string"/>
<attribute name="data" type="array" array_type="float"/>
</attributes>
</element>
<element name="text" repeated="true">
Expand Down
41 changes: 41 additions & 0 deletions dm_control/mjcf/schema_test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -187,5 +187,46 @@ def constructible(spec_node, path):
+ '\n'.join(failures[:20]))


class SchemaRegressionTest(absltest.TestCase):
"""Declarations that MuJoCo accepts must stay representable in PyMJCF."""

def test_contact_sensor_parses_and_compiles(self):
xml_string = """
<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>"""
root = mjcf.from_xml_string(xml_string)
physics = mjcf.Physics.from_mjcf_model(root)
self.assertEqual(physics.model.nsensor, 1)
self.assertEqual(root.find('sensor', 'cs').geom1.name, 'g')

def test_jointinparent_is_scoped_on_attach(self):
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)
self.assertIn('jointinparent="child/j"', parent.to_xml_string())
physics = mjcf.Physics.from_mjcf_model(parent)
self.assertEqual(physics.model.nu, 1)

def test_custom_numeric_accepts_array_data(self):
root = mjcf.RootElement(model='m')
root.custom.add('numeric', name='x', data=[1, 2, 3])
physics = mjcf.Physics.from_mjcf_model(root)
self.assertEqual(physics.model.nnumericdata, 3)


if __name__ == '__main__':
absltest.main()