fixed adding markers bug with tuples; updateed directories

Author: vittorione94

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

@@ -27,18 +27,18 @@
         (-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)),
+    "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),),
 }
 
 
@@ -59,6 +59,7 @@ def add_markers(model):
       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(

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

@@ -78,8 +78,8 @@
 
 BASE_MODEL = "dog_base.xml"
 ASSET_RELPATH = "../../../../suite/dog_assets"
-ASSET_DIR = os.path.dirname(__file__) + "/" + ASSET_RELPATH
-print(ASSET_DIR)
+CURRENT_DIR = os.path.dirname(__file__)
+ASSET_DIR = CURRENT_DIR + "/" + ASSET_RELPATH
 
 
 def exclude_contacts(model):
@@ -187,7 +187,7 @@ def main(argv):
     lengthrange_from_joints = FLAGS["lengthrange_from_joints"].default
 
   print("Load base model.")
-  with open(BASE_MODEL, "r") as f:
+  with open(os.path.join(CURRENT_DIR, BASE_MODEL), "r") as f:
     model = mjcf.from_file(f)
 
   # Helper constants:
@@ -491,7 +491,7 @@ def main(argv):
 
   print("Add <compiler meshdir/>, for locally-loadable model")
   compiler = etree.Element(
-      "compiler", meshdir=ASSET_RELPATH, texturedir=ASSET_RELPATH
+      "compiler", meshdir=os.path.join(CURRENT_DIR, ASSET_RELPATH), texturedir=os.path.join(CURRENT_DIR, ASSET_RELPATH)
   )
   root.insert(0, compiler)
 
@@ -520,7 +520,7 @@ def main(argv):
     name = "dog_muscles_{}_{}.xml".format(
         muscle_strength_scale, muscle_dynamics)
 
-  f = open(name, "wb")
+  f = open(os.path.join(CURRENT_DIR, name), "wb")
   f.write(xml_string)
   f.close()