Match the deformable flex and flexcomp schema to MuJoCo - #545
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adityasingh2400 wants to merge 1 commit into
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Match the deformable flex and flexcomp schema to MuJoCo#545adityasingh2400 wants to merge 1 commit into
adityasingh2400 wants to merge 1 commit into
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The PyMJCF spec for <deformable><flex> disagrees with MuJoCo in ways that make the element unusable. `vertex` was capped at five entries, but MuJoCo reads three floats per vertex, so even a single triangle needs nine and no valid flex could be parsed. `node` was capped at three for the same reason. `flatskin` is a boolean keyword in MuJoCo but was declared as a pair of floats, `group` is an int but was declared as a reference into a namespace that does not exist, and `dim` and `radius` were marked required even though MuJoCo defaults them to 2 and 0.005. The same `flatskin` mistype also appears on both copies of <flexcomp>, where it was declared as an int. That rejected the documented flatskin="true" and accepted flatskin="1", which MuJoCo then refuses to compile. Verified against mujoco 3.11.0, the version this repo pins.
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The PyMJCF spec for
<deformable><flex>disagrees with MuJoCo in several ways that together make the element unusable. Thevertexattribute was capped at five entries, but MuJoCo reads three floats per vertex, so even a single triangle needs nine and no valid flex could ever be parsed.nodewas capped at three for the same reason,flatskinis a boolean keyword in MuJoCo but was declared as a pair of floats,groupis an int but was declared as a reference into a namespace that does not exist, anddimandradiuswere marked required even though MuJoCo defaults them to 2 and 0.005.The same
flatskinmistype also appears on both copies of<flexcomp>, where it was declared as an int. That rejected the documentedflatskin="true"and acceptedflatskin="1", which MuJoCo then refuses to compile.This continues the type pass in cab6d38, which fixed
group,dim,radius,material,body,element,texcoordandelemtexcoordon the same element but left the remaining entries wrong. Everything here was verified against mujoco 3.11.0, the version this repo pins, and the added test compiles the round-tripped XML through MuJoCo.Verified by restoring
schema.xmltomainand rerunning: the round-trip test fails becausedimis demanded, the flexcomp test fails withExpect an integer value: got true, and supplyingdimandradiusby hand then hits thevertexcap withExpect array with no more than 5 entries: gotnine floats. With the change,dm_control/mjcf/is 152 passed and the suite and composer tests are 327 passed.This is disjoint from my open #543 and #544. The
schema.xmlhunks are at lines 1257, 1641 and 1810 against their 606 to 932 and 2102 to 2336, and I ran trial merges against both branches with no conflicts.