dm_control: Import of refs/pull/487/head

PiperOrigin-RevId: 657564508 Change-Id: I4126748fecfe2c5a81f2e2d9d186e4ec0c26e97b
google-deepmind · Jul 30, 2024 · 9c295be · 9c295be
1 parent 1608629
commit 9c295be
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diff --git a/dm_control/locomotion/walkers/rescale.py b/dm_control/locomotion/walkers/rescale.py
@@ -21,6 +21,8 @@
 def rescale_subtree(body, position_factor, size_factor):
   """Recursively rescales an entire subtree of an MJCF model."""
   for child in body.all_children():
+    if child.tag == 'sensor':
+      continue
     if getattr(child, 'fromto', None) is not None:
       new_pos = position_factor * 0.5 * (child.fromto[3:] + child.fromto[:3])
       new_size = size_factor * 0.5 * (child.fromto[3:] - child.fromto[:3])

diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
@@ -2620,6 +2620,42 @@
             </element>
           </children>
         </element>
+        <element name="fromto" repeated="true" namespace="sensor">
+          <attributes>
+            <attribute name="name" type="identifier"/>
+            <attribute name="noise" type="float"/>
+            <attribute name="user" type="array" array_type="float"/>
+            <attribute name="cutoff" type="float"/>
+            <attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
+            <attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
+            <attribute name="body1" type="reference" required="true" reference_namespace="body"/>
+            <attribute name="body2" type="reference" required="true" reference_namespace="body"/>
+          </attributes>
+        </element>
+        <element name="normal" repeated="true" namespace="sensor">
+          <attributes>
+            <attribute name="name" type="identifier"/>
+            <attribute name="noise" type="float"/>
+            <attribute name="user" type="array" array_type="float"/>
+            <attribute name="cutoff" type="float"/>
+            <attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
+            <attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
+            <attribute name="body1" type="reference" required="true" reference_namespace="body"/>
+            <attribute name="body2" type="reference" required="true" reference_namespace="body"/>
+          </attributes>
+        </element>
+        <element name="distance" repeated="true" namespace="sensor">
+          <attributes>
+            <attribute name="name" type="identifier"/>
+            <attribute name="noise" type="float"/>
+            <attribute name="user" type="array" array_type="float"/>
+            <attribute name="cutoff" type="float"/>
+            <attribute name="geom1" type="reference" required="true" reference_namespace="geom"/>
+            <attribute name="geom2" type="reference" required="true" reference_namespace="geom"/>
+            <attribute name="body1" type="reference" required="true" reference_namespace="body"/>
+            <attribute name="body2" type="reference" required="true" reference_namespace="body"/>
+          </attributes>
+        </element>
       </children>
     </element>
     <element name="keyframe">