Fix 'deformable/flex' types in the pymjcf schema.

PiperOrigin-RevId: 750983539
Change-Id: Ie7ba76fe6cbd0052562209f673ff85081e5b1da4

Author: quagla

dm_control/mjcf/schema.xml

@@ -1680,17 +1680,17 @@
         <element name="flex" repeated="true" namespace="deformable">
           <attributes>
             <attribute name="name" type="identifier"/>
-            <attribute name="group" type="reference" reference_namespace="default"/>
-            <attribute name="dim" type="reference" required="true" reference_namespace="geom"/>
-            <attribute name="radius" type="reference" required="true" reference_namespace="geom"/>
-            <attribute name="material" type="int"/>
+            <attribute name="group" type="reference"/>
+            <attribute name="dim" type="int" required="true"/>
+            <attribute name="radius" type="float" required="true"/>
+            <attribute name="material" type="reference"/>
             <attribute name="rgba" type="array" array_type="float" array_size="4"/>
             <attribute name="flatskin" type="array" array_type="float" array_size="2"/>
-            <attribute name="body" type="array" array_type="float" array_size="2"/>
+            <attribute name="body" type="string"/>
             <attribute name="vertex" type="array" array_type="float" array_size="5"/>
-            <attribute name="element" type="float"/>
-            <attribute name="texcoord" type="float"/>
-            <attribute name="elemtexcoord" type="float"/>
+            <attribute name="element" type="array" array_type="int"/>
+            <attribute name="texcoord" type="array" array_type="float"/>
+            <attribute name="elemtexcoord" type="array" array_type="float"/>
             <attribute name="node" type="array" array_type="float" array_size="3"/>
           </attributes>
           <children>
@@ -1834,7 +1834,7 @@
             <attribute name="active" type="keyword" valid_values="false true"/>
             <attribute name="solref" type="array" array_type="float" array_size="2"/>
             <attribute name="solimp" type="array" array_type="float" array_size="5"/>
-            <attribute name="flex" type="string"/>
+            <attribute name="flex" type="identifier"/>
           </attributes>
         </element>
       </children>