Musculoskeletal dog creation

dm_control/locomotion/walkers/assets/dog_v2/__init__.py

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+import build_torso
+import build_neck
+import add_markers
+import build_tail
+import create_skin
+import build_front_legs
+import build_back_legs
+import add_muscles
+import add_wrapping_geoms
+import add_torque_actuators
+
+build_torso = build_torso.create_torso
+build_neck = build_neck.create_neck
+add_markers = add_markers.add_markers
+build_tail = build_tail.create_tail
+create_skin = create_skin.create
+build_back_legs = build_back_legs.create_back_legs
+build_front_legs = build_front_legs.create_front_legs
+add_muscles = add_muscles.add_muscles
+add_wrapping_geoms = add_wrapping_geoms.add_wrapping_geoms
+add_torque_actuators = add_torque_actuators.add_motors

dm_control/locomotion/walkers/assets/dog_v2/add_markers.py

@@ -0,0 +1,75 @@
+# Copyright 2023 The dm_control Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ============================================================================
+
+"""Add markers to the dog model, used for motion capture tracking."""
+
+MARKERS_PER_BODY = {
+    "torso": (
+        (-0.25, 0, 0.13),
+        (-0.1, 0, 0.13),
+        (0.05, 0, 0.15),
+        (-0.25, -0.06, -0.01),
+        (-0.1, -0.08, -0.02),
+        (0.05, -0.09, -0.02),
+        (-0.25, 0.06, -0.01),
+        (-0.1, 0.08, -0.02),
+        (0.05, 0.09, -0.02),
+    ),
+    "C_6": ((0.05, -0.05, 0), (0.05, 0.05, 0),),
+    "upper_arm": ((0.04, 0, 0),),
+    "lower_arm": ((0.025, 0, 0), (0.025, 0, -0.1),),
+    "hand": ((0, -0.02, 0), (0, 0.02, 0), (0.02, -0.02, -0.08), (0.02, 0.02, -0.08),),
+    "finger": ((0.065, 0, 0),),
+    "pelvis": ((0.04, -0.07, 0.02), (0.04, 0.07, 0.02),),
+    "upper_leg": ((-0.03, 0.04, 0),),
+    "lower_leg": ((0.04, 0, 0), (-0.04, 0.035, 0),),
+    "foot": ((0, -0.02, 0), (0, 0.02, 0), (0, -0.02, -0.1), (0, 0.03, -0.1),),
+    "toe": ((0.055, 0, 0),),
+    "Ca_10": ((0, 0, 0.01),),
+    "skull": ((0.01, 0, 0.04), (0, -0.05, 0), (0, 0.05, 0), (-0.1, 0, 0.02),),
+}
+
+
+def add_markers(model):
+  """Add markers to the given model.
+
+  Args:
+      model: The model to add markers to.
+  """
+  bodies = model.find_all("body")
+
+  total_markers = 0
+  for body in bodies:
+    for name, markers_pos in MARKERS_PER_BODY.items():
+      if name in body.name and "anchor" not in body.name:
+        marker_idx = 0
+        for pos in markers_pos:
+          pos = list(pos)
+          if "_R" in body.name:
+            pos[1] *= -1
+          body.add(
+              "site",
+              name="marker_" + body.name + "_" + str(marker_idx),
+              pos=pos,
+              dclass="marker",
+          )
+
+          marker_idx += 1
+          total_markers += 1
+
+  for i in range(total_markers):
+    marker_body = model.worldbody.add(
+        "body", name="marker_" + str(i), mocap=True)
+    marker_body.add("site", name="marker_" + str(i), dclass="mocap_marker")