Schema regeneration in 985d0940 dropped three declarations MuJoCo 3.12 accepts (contact sensor, jointinparent references, custom numeric arrays)

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#552 创建于 2026年8月24日 0 条评论 0 个 reaction 已指派 0 人在 GitHub 查看

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Issue 类型: 缺陷
描述清晰度: 描述清楚
活跃度: 活跃
技术栈: python
领域: backend

调研方向

将 HEAD 中的 dm_control/mjcf/schema.xml 与重新生成前的版本 985d0940^ 进行比较，重点关注 sensor/contact、actuator/jointinparent 和 custom/numeric data 声明。重现 issue 中的三个案例，然后运行 mjcf test suite，并添加回归测试以证明 contact parsing、attach() joint references 和 numeric arrays 已恢复正常工作。

由索引模型根据 Issue 内容生成。

描述

Commit 985d0940 regenerated dm_control/mjcf/schema.xml and dropped three declarations that were present before and that MuJoCo 3.12 still accepts. All three reproduce at HEAD (6b3298d) with mujoco 3.12.0.

1. <sensor> lost its <contact> child

from dm_control import mjcf
xml = """<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>"""
mjcf.from_xml_string(xml)
# KeyError: "Line ...: error while parsing element <contact>: 'contact'"

mujoco.MjModel.from_xml_string(xml) loads the same model fine.

2. jointinparent degraded from reference to string on all nine actuator elements

Because it is no longer a type="reference" reference_namespace="joint" attribute, attach() does not prefix the joint name, and the composed model fails to compile:

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)
mjcf.Physics.from_mjcf_model(parent)
# Error: unknown transmission target 'j' for actuator id = 0

3. custom/numeric data degraded from float array to string

root = mjcf.RootElement(model='m')
root.custom.add('numeric', name='x', data=[1, 2, 3])
# ValueError: during initialization of attribute 'data' of element <numeric>: Expect a string value: got [1, 2, 3]

This worked on the prior release.

In all three cases the pre-regeneration schema (985d0940^) had the correct declaration; restoring those three pieces fixes all three without affecting the rest of the mjcf test suite. PR incoming with the restore plus regression tests. If the preferred fix is in the schema generator rather than the checked-in file, the repro set here should transfer directly.

主要语言: Python
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