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Merge branch 'google-deepmind:main' into musculoskeletal_dog_creation
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‎dm_control/mjcf/README.md‎

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@@ -462,7 +462,7 @@ All children of non-worldbody elements, e.g. actuators or tendons, are
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automatically merged in to appropriate places when a model is attached. Named
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elements are prefixed as previously described.
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## Common gotchas {#common-gotchas}
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## Common gotchas
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### Use `foo.dclass`, not ~~`foo.class`~~
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‎dm_control/mjcf/schema.xml‎

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@@ -25,6 +25,7 @@
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<attribute name="inertiafromgeom" type="keyword" valid_values="false true auto"/>
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<attribute name="inertiagrouprange" type="array" array_type="int" array_size="2"/>
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<attribute name="exactmeshinertia" type="keyword" valid_values="false true"/>
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<attribute name="alignfree" type="keyword" valid_values="false true"/>
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</attributes>
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<children>
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<element name="lengthrange">
@@ -66,8 +67,8 @@
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<attribute name="ls_tolerance" type="float" conflict_allowed="true" conflict_behavior="min"/>
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<attribute name="noslip_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
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<attribute name="noslip_tolerance" type="float" conflict_allowed="true" conflict_behavior="min"/>
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<attribute name="mpr_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
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<attribute name="mpr_tolerance" type="float" conflict_allowed="true" conflict_behavior="min"/>
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<attribute name="ccd_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
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<attribute name="ccd_tolerance" type="float" conflict_allowed="true" conflict_behavior="min"/>
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<attribute name="sdf_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
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<attribute name="sdf_initpoints" type="int" conflict_allowed="true" conflict_behavior="max"/>
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</attributes>
@@ -983,7 +984,6 @@
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<children>
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<element name="plugin" repeated="true" namespace="mesh">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<children>
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<element name="plugin" repeated="true" namespace="geom">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<children>
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<element name="plugin" repeated="true" namespace="flexcomp">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
@@ -1252,7 +1250,6 @@
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<children>
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<element name="plugin" repeated="true" namespace="composite">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<children>
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<element name="plugin" repeated="true" namespace="body">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="group" type="int"/>
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<attribute name="align" type="keyword" valid_values="false true auto"/>
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</attributes>
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</element>
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<element name="geom" repeated="true">
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<children>
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<element name="plugin" repeated="true" namespace="geom">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<children>
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<element name="plugin" repeated="true" namespace="flexcomp">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<children>
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<element name="plugin" repeated="true" namespace="composite">
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<attributes>
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<attribute name="name" type="string"/>
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<attribute name="plugin" type="string"/>
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<attribute name="instance" type="reference" reference_namespace="plugin"/>
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</attributes>
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<attribute name="active" type="keyword" valid_values="false true"/>
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<attribute name="solref" type="array" array_type="float" array_size="2"/>
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<attribute name="solimp" type="array" array_type="float" array_size="5"/>
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<attribute name="body1" type="reference" required="true" reference_namespace="body"/>
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<attribute name="body1" type="reference" reference_namespace="body"/>
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<attribute name="body2" type="reference" reference_namespace="body"/>
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<attribute name="anchor" type="array" required="true" array_type="float" array_size="3"/>
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<attribute name="anchor" type="array" array_type="float" array_size="3"/>
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<attribute name="site1" type="reference" reference_namespace="site"/>
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<attribute name="site2" type="reference" reference_namespace="site"/>
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</attributes>
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</element>
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<element name="weld" repeated="true" namespace="equality">
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<attribute name="name" type="identifier"/>
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<attribute name="noise" type="float"/>
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<attribute name="user" type="array" array_type="float"/>
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<attribute name="cutoff" type="float"/>
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<attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
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<attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
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<attribute name="body1" type="reference" required="true" reference_namespace="body"/>
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<attribute name="body2" type="reference" required="true" reference_namespace="body"/>
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<attribute name="cutoff" type="float" required="true"/>
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<attribute name="geom1" type="reference" reference_namespace="geom"/>
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<attribute name="geom2" type="reference" reference_namespace="geom"/>
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<attribute name="body1" type="reference" reference_namespace="body"/>
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<attribute name="body2" type="reference" reference_namespace="body"/>
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</attributes>
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</element>
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<element name="normal" repeated="true" namespace="sensor">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="noise" type="float"/>
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<attribute name="user" type="array" array_type="float"/>
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<attribute name="cutoff" type="float"/>
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<attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
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<attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
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<attribute name="body1" type="reference" required="true" reference_namespace="body"/>
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<attribute name="body2" type="reference" required="true" reference_namespace="body"/>
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<attribute name="cutoff" type="float" required="true"/>
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<attribute name="geom1" type="reference" reference_namespace="geom"/>
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<attribute name="geom2" type="reference" reference_namespace="geom"/>
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<attribute name="body1" type="reference" reference_namespace="body"/>
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<attribute name="body2" type="reference" reference_namespace="body"/>
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</attributes>
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</element>
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<element name="distance" repeated="true" namespace="sensor">
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<attributes>
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<attribute name="name" type="identifier"/>
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<attribute name="noise" type="float"/>
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<attribute name="user" type="array" array_type="float"/>
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<attribute name="cutoff" type="float"/>
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<attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
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<attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
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<attribute name="body1" type="reference" required="true" reference_namespace="body"/>
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<attribute name="body2" type="reference" required="true" reference_namespace="body"/>
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<attribute name="cutoff" type="float" required="true"/>
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<attribute name="geom1" type="reference" reference_namespace="geom"/>
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<attribute name="geom2" type="reference" reference_namespace="geom"/>
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<attribute name="body1" type="reference" reference_namespace="body"/>
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<attribute name="body2" type="reference" reference_namespace="body"/>
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</attributes>
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</element>
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</children>

‎dm_control/mjcf/test_assets/robot_arm.xml‎

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@@ -141,6 +141,8 @@
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<torque name="wristtorque" site='wristsite'/>
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<force name="baseforce" site='basesite'/>
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<torque name="basetorque" site='basesite'/>
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<distance body1="b_finger_3" body2="b_finger_2" cutoff="0.1"/>
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<distance geom1="finger_knuckle_3" geom2="finger_knuckle_2" cutoff="0.1"/>
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</sensor>
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<actuator>

‎dm_control/mujoco/index_test.py‎

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'4 mocap2 [ 12 13 14 ]'),
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}
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# A test below accesses all attributes of np.ndarray, but accessing some of them
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# triggers an exception under numpy>=2.0.
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_DEPRECATED_NDARRAY_ATTRIBUTES = {
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'itemset', 'newbyteorder', 'ptp'
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}
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class MujocoIndexTest(parameterized.TestCase):
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@@ -291,6 +297,7 @@ def testBuildIndexersForEdgeCases(self, xml_string):
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(name, name) for name in dir(np.ndarray)
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if not name.startswith('_') # Exclude 'private' attributes
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and name not in ('ctypes', 'flat') # Can't compare via identity/equality
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and name not in _DEPRECATED_NDARRAY_ATTRIBUTES
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])
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# pylint: enable=undefined-variable
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def testFieldIndexerDelegatesNDArrayAttributes(self, name):

‎dm_control/utils/inverse_kinematics_test.py‎

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@@ -118,7 +118,7 @@ def testQposFromSitePose(self, target, inplace):
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xmat = physics.named.data.site_xmat[_SITE_NAME]
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quat = np.empty_like(target_quat)
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mjlib.mju_mat2Quat(quat, xmat)
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quat /= quat.ptp() # Normalize xquat so that its max-min range is 1
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quat /= np.ptp(quat) # Normalize xquat so that its max-min range is 1
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np.testing.assert_array_almost_equal(quat, target_quat)
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def testNamedJointsWithMultipleDOFs(self):

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