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Update mjcf schema #380

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Update mjcf schema #380

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0e56598
Update `sensor/user` attribute restrictions
hartikainen Feb 16, 2023
bb52f8c
Add test for `user/sensor` without optional fields
hartikainen Feb 16, 2023
6770d2f
Add `memory` attribute to `size` element
hartikainen Feb 16, 2023
8e0f811
Add test for `size` element's `memory` attribute
hartikainen Feb 16, 2023
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9 changes: 5 additions & 4 deletions dm_control/mjcf/schema.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,7 @@
</element>
<element name="size">
<attributes>
<attribute name="memory" type="string"/>
<attribute name="njmax" type="int" conflict_allowed="true" conflict_behavior="max"/>
<attribute name="nconmax" type="int" conflict_allowed="true" conflict_behavior="max"/>
<attribute name="nstack" type="int"/>
Expand Down Expand Up @@ -2167,10 +2168,10 @@
<attribute name="noise" type="float"/>
<attribute name="cutoff" type="float"/>
<attribute name="user" type="array" array_type="float"/>
<attribute name="objtype" type="keyword" required="true" valid_values="body joint geom site camera light mesh skin hfield texture material equality tendon actuator sensor numeric text tuple contact keyframe"/>
<attribute name="objname" type="reference" required="true" reference_namespace="attrib:objtype"/>
<attribute name="datatype" type="keyword" required="true" valid_values="real positive axis quaternion"/>
<attribute name="needstage" type="keyword" required="true" valid_values="pos vel acc"/>
<attribute name="objtype" type="keyword" valid_values="body joint geom site camera light mesh skin hfield texture material equality tendon actuator sensor numeric text tuple contact keyframe"/>
<attribute name="objname" type="reference" reference_namespace="attrib:objtype"/>
<attribute name="datatype" type="keyword" valid_values="real positive axis quaternion"/>
<attribute name="needstage" type="keyword" valid_values="pos vel acc"/>
<attribute name="dim" type="int" required="true"/>
</attributes>
</element>
Expand Down
4 changes: 4 additions & 0 deletions dm_control/mjcf/test_assets/test_model.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
<mujoco model="test">
<size memory="1K"/>
<compiler texturedir="textures"/>
<asset>
<texture name="texture" type="cube" file="deepmind.png"/>
Expand Down Expand Up @@ -42,4 +43,7 @@
<velocity name="b_0_0" joint="b_0_0"/>
<velocity name="b_1_0" joint="b_1_0"/>
</actuator>
<sensor>
<user name="dummy" dim="1" user="0 1 0 1" />
</sensor>
</mujoco>