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Match the deformable flex and flexcomp schema to MuJoCo #545

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Match the deformable flex and flexcomp schema to MuJoCo #545

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16 changes: 8 additions & 8 deletions dm_control/mjcf/schema.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1257,7 +1257,7 @@
<attribute name="texcoord" type="string"/>
<attribute name="material" type="string"/>
<attribute name="rgba" type="array" array_type="float" array_size="4"/>
<attribute name="flatskin" type="int"/>
<attribute name="flatskin" type="keyword" valid_values="false true"/>
<attribute name="pos" type="array" array_type="float" array_size="3"/>
<attribute name="quat" type="array" array_type="float" array_size="4"/>
<attribute name="axisangle" type="array" array_type="float" array_size="4"/>
Expand Down Expand Up @@ -1641,7 +1641,7 @@
<attribute name="texcoord" type="string"/>
<attribute name="material" type="string"/>
<attribute name="rgba" type="array" array_type="float" array_size="4"/>
<attribute name="flatskin" type="int"/>
<attribute name="flatskin" type="keyword" valid_values="false true"/>
<attribute name="pos" type="array" array_type="float" array_size="3"/>
<attribute name="quat" type="array" array_type="float" array_size="4"/>
<attribute name="axisangle" type="array" array_type="float" array_size="4"/>
Expand Down Expand Up @@ -1810,18 +1810,18 @@
<element name="flex" repeated="true" namespace="deformable">
<attributes>
<attribute name="name" type="identifier"/>
<attribute name="group" type="reference"/>
<attribute name="dim" type="int" required="true"/>
<attribute name="radius" type="float" required="true"/>
<attribute name="group" type="int"/>
<attribute name="dim" type="int"/>
<attribute name="radius" type="float"/>
<attribute name="material" type="reference"/>
<attribute name="rgba" type="array" array_type="float" array_size="4"/>
<attribute name="flatskin" type="array" array_type="float" array_size="2"/>
<attribute name="flatskin" type="keyword" valid_values="false true"/>
<attribute name="body" type="string"/>
<attribute name="vertex" type="array" array_type="float" array_size="5"/>
<attribute name="vertex" type="array" array_type="float"/>
<attribute name="element" type="array" array_type="int"/>
<attribute name="texcoord" type="array" array_type="float"/>
<attribute name="elemtexcoord" type="array" array_type="float"/>
<attribute name="node" type="array" array_type="float" array_size="3"/>
<attribute name="node" type="array" array_type="float"/>
<attribute name="nodecoord" type="array" array_type="float"/>
<attribute name="cellcount" type="array" array_type="int" array_size="3"/>
<attribute name="dof" type="keyword" valid_values="trilinear quadratic"/>
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41 changes: 41 additions & 0 deletions dm_control/mjcf/xml_validation_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,47 @@ def validate(xml_string, assets=None):

class XMLValidationTest(absltest.TestCase):

def testDeformableFlexRoundTrip(self):
# A flex needs three floats per vertex, so even the smallest one exceeds
# the five entries the schema used to allow. `dim` and `radius` are
# omitted here because MuJoCo supplies defaults for both.
model = parser.from_xml_string("""
<mujoco model="test">
<worldbody>
<body name="v0"><freejoint/><geom type="sphere" size="0.01"/></body>
<body name="v1" pos="0.1 0 0"><freejoint/><geom type="sphere" size="0.01"/></body>
<body name="v2" pos="0 0.1 0"><freejoint/><geom type="sphere" size="0.01"/></body>
</worldbody>
<deformable>
<flex name="f" group="2" flatskin="true" body="v0 v1 v2"
vertex="0 0 0 0.1 0 0 0 0.1 0" element="0 1 2"/>
</deformable>
</mujoco>
""")
xml_string = model.to_xml_string()
validate(xml_string)
mjmodel = wrapper.MjModel.from_xml_string(xml_string)
self.assertEqual(mjmodel.flex_vertnum[0], 3)
self.assertEqual(mjmodel.flex_group[0], 2)
self.assertTrue(mjmodel.flex_flatskin[0])

def testFlexcompFlatskinIsBoolean(self):
for parent_open, parent_close in (('<body name="b">', '</body>'), ('', '')):
model = parser.from_xml_string("""
<mujoco model="test">
<worldbody>
%s
<flexcomp name="fc" type="grid" dim="2" count="3 3 1" spacing="0.1 0.1 0.1"
radius="0.001" flatskin="true"/>
%s
</worldbody>
</mujoco>
""" % (parent_open, parent_close))
xml_string = model.to_xml_string()
validate(xml_string)
mjmodel = wrapper.MjModel.from_xml_string(xml_string)
self.assertTrue(mjmodel.flex_flatskin[0])

def testXmlAttach(self):
robot_arm = parser.from_file(_ROBOT_XML)
arena = parser.from_file(_ARENA_XML)
Expand Down