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Add wing force sensors to fruitfly_v2 walker #426

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Add wing force sensors to fruitfly_v2 walker #426

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4 changes: 4 additions & 0 deletions dm_control/locomotion/walkers/assets/build_fruitfly/fruitfly.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -385,6 +385,7 @@
<geom name="wing_left_membrane" material="membrane" mass="0" pos="-0.0968 0.0432 -0.09" quat="-0.915 0 -0.403 0" mesh="wing_left_membrane"/>
<geom name="wing_left_membrane_collision" class="collision-membrane" type="ellipsoid" size="0.00306 0.0551 0.114" pos="0.0263 -0.148 -0.0289" quat="-0.685 -0.634 0.265 -0.243"/>
<geom name="wing_left_fluid" class="wing-fluid" size="0.0005 0.0551 0.114" pos="0.0263 -0.148 -0.0289" quat="-0.685 -0.634 0.265 -0.243"/>
<site name="wing_left"/>
<geom name="wing_left_inertial" class="wing-inertial" size="0.0005 0.0551 0.114" pos="0.0263 -0.148 -0.0289" quat="-0.685 -0.634 0.265 -0.243"/>
</body>
<body name="wing_right" childclass="wing" pos="-0.00694 -0.0432 0.0091" quat="0 0.915 0 -0.403">
Expand All @@ -396,6 +397,7 @@
<geom name="wing_right_membrane" material="membrane" mass="0" pos="0.0968 -0.0432 0.09" quat="-0.403 0 0.915 0" mesh="wing_right_membrane"/>
<geom name="wing_right_membrane_collision" class="collision-membrane" type="ellipsoid" size="0.00306 0.0551 0.114" pos="-0.0263 0.148 0.0289" quat="0.243 0.265 0.634 -0.685"/>
<geom name="wing_right_fluid" class="wing-fluid" size="0.0005 0.0551 0.114" pos="-0.0263 0.148 0.0289" quat="0.243 0.265 0.634 -0.685"/>
<site name="wing_right"/>
<geom name="wing_right_inertial" class="wing-inertial" size="0.0005 0.0551 0.114" pos="-0.0263 0.148 0.0289" quat="0.243 0.265 0.634 -0.685"/>
</body>
<body name="abdomen" childclass="abdomen" pos="-0.0447 -0.000555 0.00428" quat="-0.704 -0.0859 -0.0853 -0.7">
Expand Down Expand Up @@ -907,6 +909,8 @@
<force name="force_tarsus_T2_right" site="tarsus_T2_right"/>
<force name="force_tarsus_T3_left" site="tarsus_T3_left"/>
<force name="force_tarsus_T3_right" site="tarsus_T3_right"/>
<force name="force_wing_left" site="wing_left"/>
<force name="force_wing_right" site="wing_right"/>
<touch name="touch_claw_T1_left" site="claw_T1_left"/>
<touch name="touch_claw_T1_right" site="claw_T1_right"/>
<touch name="touch_claw_T2_left" site="claw_T2_left"/>
Expand Down
7 changes: 7 additions & 0 deletions dm_control/locomotion/walkers/assets/build_fruitfly/make_fruitfly.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1020,6 +1020,7 @@ def main(argv: Sequence[str]):
model.sensor.add('velocimeter', name='velocimeter', site='thorax')
touch_sites = []
force_sites = []
# Sites for leg sensors.
for leg in legs:
for body in leg.find_all('body'):
if 'claw' in body.name:
Expand All @@ -1033,6 +1034,12 @@ def main(argv: Sequence[str]):
if 'tarsus_' in body.name:
site = body.insert('site', -1, name=body.name)
force_sites.append(site)
# Sites for wing sensors.
for body in thorax.find_all('body'):
if 'wing' in body.name:
site = body.insert('site', -1, name=body.name)
force_sites.append(site)
# Add force and touch sensors.
for site in force_sites:
model.sensor.add('force', name='force_' + site.name, site=site)
for site in touch_sites:
Expand Down
4 changes: 4 additions & 0 deletions dm_control/locomotion/walkers/assets/fruitfly_v2/fruitfly.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -385,6 +385,7 @@
<geom name="wing_left_membrane" material="membrane" mass="0" pos="-0.0968 0.0432 -0.09" quat="-0.915 0 -0.403 0" mesh="wing_left_membrane"/>
<geom name="wing_left_membrane_collision" class="collision-membrane" type="ellipsoid" size="0.00306 0.0551 0.114" pos="0.0263 -0.148 -0.0289" quat="-0.685 -0.634 0.265 -0.243"/>
<geom name="wing_left_fluid" class="wing-fluid" size="0.0005 0.0551 0.114" pos="0.0263 -0.148 -0.0289" quat="-0.685 -0.634 0.265 -0.243"/>
<site name="wing_left"/>
<geom name="wing_left_inertial" class="wing-inertial" size="0.0005 0.0551 0.114" pos="0.0263 -0.148 -0.0289" quat="-0.685 -0.634 0.265 -0.243"/>
</body>
<body name="wing_right" childclass="wing" pos="-0.00694 -0.0432 0.0091" quat="0 0.915 0 -0.403">
Expand All @@ -396,6 +397,7 @@
<geom name="wing_right_membrane" material="membrane" mass="0" pos="0.0968 -0.0432 0.09" quat="-0.403 0 0.915 0" mesh="wing_right_membrane"/>
<geom name="wing_right_membrane_collision" class="collision-membrane" type="ellipsoid" size="0.00306 0.0551 0.114" pos="-0.0263 0.148 0.0289" quat="0.243 0.265 0.634 -0.685"/>
<geom name="wing_right_fluid" class="wing-fluid" size="0.0005 0.0551 0.114" pos="-0.0263 0.148 0.0289" quat="0.243 0.265 0.634 -0.685"/>
<site name="wing_right"/>
<geom name="wing_right_inertial" class="wing-inertial" size="0.0005 0.0551 0.114" pos="-0.0263 0.148 0.0289" quat="0.243 0.265 0.634 -0.685"/>
</body>
<body name="abdomen" childclass="abdomen" pos="-0.0447 -0.000555 0.00428" quat="-0.704 -0.0859 -0.0853 -0.7">
Expand Down Expand Up @@ -907,6 +909,8 @@
<force name="force_tarsus_T2_right" site="tarsus_T2_right"/>
<force name="force_tarsus_T3_left" site="tarsus_T3_left"/>
<force name="force_tarsus_T3_right" site="tarsus_T3_right"/>
<force name="force_wing_left" site="wing_left"/>
<force name="force_wing_right" site="wing_right"/>
<touch name="touch_claw_T1_left" site="claw_T1_left"/>
<touch name="touch_claw_T1_right" site="claw_T1_right"/>
<touch name="touch_claw_T2_left" site="claw_T2_left"/>
Expand Down
8 changes: 8 additions & 0 deletions dm_control/locomotion/walkers/fruitfly_v2.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -233,6 +233,10 @@ def _build(self,
if ('adhere' in actuator.name and
any_substr_in_str(name_substr['legs'], actuator.name)):
actuator.remove()
# Remove leg sensors.
for sensor in root.find_all('sensor'):
if any_substr_in_str(name_substr['legs'], sensor.name):
sensor.remove()

# Maybe retract and disable wings.
if not use_wings:
Expand All @@ -241,6 +245,10 @@ def _build(self,
for joint in wing_joints:
root.find('actuator', joint.name).remove()
self.observable_joints.remove(joint)
# Remove wing sensors.
for sensor in root.find_all('sensor'):
if any_substr_in_str(name_substr['wings'], sensor.name):
sensor.remove()

# Maybe disable mouth.
if not use_mouth:
Expand Down