Musculoskeletal dog creation #402
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dm_control/locomotion/walkers/assets/dog_v2/add_torque_actuators.py
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dm_control/locomotion/walkers/assets/dog_v2/add_wrapping_geoms.py
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There are two main things missing from this PR:
- Add
dog_v2_testwhere the model is instantiated and stepped. Look at https://github.com/google-deepmind/dm_control/blob/main/dm_control/locomotion/walkers/cmu_humanoid_test.py - The public API of the module needs to be clear. Are users expected to call
add_markers.add_markers, etc.? The test will make it a bit clearer for me how to use the module, but also, you should choose the small number of functions that are to be used by the clients, and import them publically into__init__.py
dm_control/locomotion/walkers/assets/dog_v2/add_wrapping_geoms.py
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vittorione94
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The review is showing a bunch of unrelated changes from the main dm_control. I think you somehow folded them into your commit. Could you pull and rebase your fork so that only your changes are in your commit? i.e. in https://github.com/vittorione94/dm_control/tree/musculoskeletal_dog_creation, I see:
Plus there's one unresolved conversation from me. |
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I tried to import this and encountered several issues:
- A bunch of files are missing the standard copyright header. Make sure to make the year 2024 for new files.
- The standard dm_control tests are failing because the existing dog doesn't load because you deleted/moved
dog_assets/dog_skin.skn. Please make sure the existing tests pass. - Please make sure all code is wrapped to 80 columns.
- Added some specific issues our linter found in specific lines.
- Please sync to HEAD.
| arma = physics.bind(j).armature[0] | ||
| # Print torque actuators stuff | ||
| if not use_muscles: | ||
| joint_acts = [model.find("actuator", j.name) for j in actuated_joints] |
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Variable 'actuated_joints' is possibly uninitialized
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actuated_joints is definitely intialized if we're not using muscles. The build_dog script creates an actuated model (either with torque joints or tendons).
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This is not my opinion, this is what the static code checker is saying 🤷
I can try and import again and see if I get complaints...
| muscle.ctrllimited = True | ||
| muscle.ctrlrange = [0.0, 1.0] | ||
| if lengthrange_from_joints: | ||
| muscle.lengthrange = [vector_min[tend_idx], vector_max[tend_idx]] |
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Variable 'vector_min' and 'vector_max' are possibly uninitialized
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if lengthrange_from_joints is true then those are definitely intialized no?
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This is not my opinion, this is what the static code checker is saying 🤷
I can try and import again and see if I get complaints...
As per title