mjcf: restore schema declarations lost in the schema.xml regeneration - #553
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mjcf: restore schema declarations lost in the schema.xml regeneration#553shoemoney wants to merge 1 commit into
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The schema regeneration in 985d094 dropped three declarations that MuJoCo 3.12 still accepts, breaking previously working PyMJCF models: - sensor lost its contact child element, so parsing a model with <sensor><contact .../></sensor> raises KeyError while raw MuJoCo loads it fine. - jointinparent on the nine actuator elements degraded from type="reference" reference_namespace="joint" to type="string", so attach() no longer prefixes the joint name and the composed model fails to compile with "unknown transmission target". - custom/numeric data degraded from a float array to a string, so add('numeric', name='x', data=[1, 2, 3]) raises ValueError. Restore the three declarations as they were before the regeneration and add regression tests covering all three.
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Fixes #552.
The schema regeneration in 985d094 dropped three declarations that the pre-regeneration
schema.xmlcarried and that MuJoCo 3.12 still accepts. Each one breaks a previously working PyMJCF model at HEAD:sensorlost itscontactchild element. Parsing a model with<sensor><contact .../></sensor>raisesKeyErrorwhile raw MuJoCo loads the same XML.jointinparenton the nine actuator elements degraded fromtype="reference" reference_namespace="joint"totype="string".attach()therefore emits the joint name unprefixed and the composed model fails to compile withunknown transmission target.custom/numericdatadegraded fromtype="array" array_type="float"totype="string", soroot.custom.add('numeric', name='x', data=[1, 2, 3])raisesValueError.This PR restores the three declarations exactly as they were in the pre-regeneration schema and adds a
SchemaRegressionTesttoschema_test.pycovering all three (parse and compile of a contact sensor, attach round-trip that must scopejointinparent, and array data on a custom numeric). All three tests fail at HEAD and pass with the fix; the fulldm_control/mjcftest suite passes (157 tests).If the preferred fix is in the schema generator rather than the checked-in file, the regression tests here should transfer directly.