Attachment frames's inertial property
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Évaluation
- Difficulté
- 3/5
- Temps estimé
- 1-2 jours
- Accessibilité débutants
- 35/100
Piste de recherche
Commencez par la section attachment-frames de dm_control/mjcf/README.md et reproduisez le problème avec le code Camera, parent-body et attach présenté. Comparez le MJCF généré avec la sortie demandée ; le travail est terminé lorsque les bodies attachés conservent leurs éléments inertial sans introduire le body unnamed_model supplémentaire.
Rédigé par le modèle d'indexation à partir du texte de l'issue.
Description
Hello,
I am trying to attach a body to another one, similar to your example here of child and parent.
However, my child body does have inertial-properties. Attaching the following child body
class Camera:
#===================#
# C O N S T A N T #
#===================#
_com_pos = (0, 0, 0.015)
_dclass = 'wam\\viz'
_mass = 0.095
_mesh_name = 'intel_realsense_l515'
_name = '\\rgb'
_quat = (0, 0, 1, 0)
#===============================#
# I N I T I A L I Z A T I O N #
#===============================#
def __init__(self, name, fovy):
# Make a MujoCo Root
self.mjcf_model = mjcf.RootElement()
# Add a body element: No need to add position info, as that will be added based on which `site` this body is going to be attached (https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/README.md#attachment-frames)
self.camera_body = self.mjcf_model.worldbody.add('body',
name = name)
# Add Inertial properties
self.camera_body.add('inertial',
pos = self._com_pos,
mass = self._mass)
# Add the Geometry (https://github.com/google-deepmind/dm_control/blob/ed424509c0a0e8ddf7a43824924de483026ad9cc/dm_control/locomotion/soccer/humanoid.py#L50)
self.camera_body.add('geom',
mesh = self._mesh_name,
dclass = self._dclass)
# Add camera sensor
self.camera_body.add('camera',
name = name+self._name,
pos = (0, 0, 0),
quat = self._quat,
fovy = fovy)
as such in the parent body
# Add camera locations
# An empty array to hold camera-sites
camera_site = []
for x in range(len(self._camera_pos)):
camera_site.append(self.summit_body.add('site',
pos = self._camera_pos[x],
quat = self._camera_quat[x],
dclass = self._site_name))
# Create camera
# Initialize empty list of camera
cameras = []
for x in range(len(self._camera_pos)):
cameras.append(Camera(name = self._name_summit+'_'+prefix+self._camera_name[x],
fovy = self._camera_fovy[x]))
# Attach the cameras
for x in range(len(self._camera_pos)):
camera_site[x].attach(cameras[x].mjcf_model)
causes the generated file to introduce an unnecessary body called unnamed_model, which is derived from the name of the worldbody (which, in this case, was initialized without a name).
<body name="smt_0" pos="0 0 0">
<inertial pos="0 0 0.37" mass="125" diaginertia="1.391 6.8529999999999998 6.125"/>
<geom name="smt_0\viz\base_link" class="summit\body\viz" mesh="base_link_summit"/>
<body pos="0 0.36199999999999999 0.373" quat="0 0 0.70710700000000004 0.70710700000000004" name="unnamed_model/">
<body name="unnamed_model/smt_0\front\camera\intel">
<inertial pos="0 0 0.014999999999999999" mass="0.095000000000000001"/>
<geom name="unnamed_model//unnamed_geom_0" class="unnamed_model/wam\viz" mesh="unnamed_model/intel_realsense_l515"/>
<camera name="unnamed_model/smt_0\front\camera\intel\rgb" class="unnamed_model/" fovy="55" pos="0 0 0" quat="0 0 1 0"/>
</body>
</body>
</body>
What I am aiming for is a representation similar to your example here, such that I should have:
<body name="smt_0" pos="0 0 0">
<inertial pos="0 0 0.37" mass="125" diaginertia="1.391 6.8529999999999998 6.125"/>
<geom name="smt_0\viz\base_link" class="summit\body\viz" mesh="base_link_summit"/>
<body pos="0 0.36199999999999999 0.373" quat="0 0 0.70710700000000004 0.70710700000000004" name="unnamed_model/">
<inertial pos="0 0 0.014999999999999999" mass="0.095000000000000001"/>
<geom name="unnamed_model//unnamed_geom_0" class="unnamed_model/wam\viz" mesh="unnamed_model/intel_realsense_l515"/>
<camera name="unnamed_model/smt_0\front\camera\intel\rgb" class="unnamed_model/" fovy="55" pos="0 0 0" quat="0 0 1 0"/>
</body>
</body>
but I am not allowed to do this because AttributeError: <inertial> is not a valid child of <worldbody>.
Question;
How can I get such a clean representation while introducing inertial properties for attached-bodies?
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