How can I create the model with plugins from <a href="https://github.com/google-deepmi

Seems that <a class="commit-link" data-hovercard-type="commit" data-hovercard-url="htt

Create plugin based models using MJCF about dm_control HOT 2 CLOSED

tudorjnu commented on June 17, 2024

Create plugin based models using MJCF

from dm_control.

Comments (2)

tudorjnu commented on June 17, 2024

Update:

It seems that the XML schema is not recognized properly. Running the last dm_control version, 1.0.15, I am getting:

ValueError: during initialization of attribute 'type' of element <composite>: Expect keyword to be one of ['particle', 'grid', 'rope', 'loop', 'cloth', 'box', 'cylinder', 'ellipsoid'] but got: cable

when running:

parent = self._mjcf_root.worldbody.add("body", name="body_0")
cable = parent.add("composite", type="cable")

But the xml schema shows:

<element name="composite" repeated="true">
  <attributes>
    <attribute name="prefix" type="identifier"/>
    <attribute name="type" type="keyword" valid_values="particle grid cable rope loop cloth box cylinder ellipsoid" required="true"/>
    <attribute name="count" type="array" array_type="int" array_size="3" required="true"/>
    <attribute name="spacing" type="float" required="false"/>
    <attribute name="offset" type="array" array_type="float" array_size="3"/>
    <attribute name="flatinertia" type="float"/>
    <attribute name="solrefsmooth" type="array" array_type="float" array_size="2"/>
    <attribute name="solimpsmooth" type="array" array_type="float" array_size="5"/>
    <attribute name="vertex" type="string"/>
    <attribute name="face" type="string"/>
    <attribute name="initial" type="string"/>
    <attribute name="curve" type="string"/>
    <attribute name="size" type="array" array_type="float" array_size="3"/>
  </attributes>