dm_control.mjcf parser compatibility

[peterdavidfagan]

Is anyone else facing a parse error when trying to use dm_control.mjcf.from_path() to parse the xml files?

Running the following snippet from the root directory:

from dm_control import mjcf
mjcf.from_path('world.xml')

I get the following error: ValueError: Root element of the XML should be <mujoco.*>: got <panda>

It appears to be caused by the panda.xml file which is missing mujoco and compiler tags. This only appears to be an issue for the dm_control mjcf parser as it checks that the root tag of the xml file start with "mujoco".

I have needed to make updates to the panda.xml file to get it to work. I am going to open a pr with the changes but wished to post this issue here in case others have encountered the same.

Also thanks to @JeanElsner for sharing this repository.

[peterdavidfagan]

The following documentation covers the behavior of include with MJCF xml files.