Add Unitree H1 Walk task #336
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,187 @@ | ||
| diff --git a/h1.xml b/h1.xml | ||
| --- a/h1.xml | ||
| +++ b/h1.xml | ||
| @@ -1,5 +1,5 @@ | ||
| <mujoco model="h1"> | ||
| - <compiler angle="radian" meshdir="assets" autolimits="true"/> | ||
| + <compiler angle="radian" meshdir="../assets" autolimits="true"/> | ||
|
|
||
| <statistic meansize="0.05"/> | ||
|
|
||
| @@ -62,84 +62,86 @@ | ||
| diaginertia="0.0490211 0.0445821 0.00824619"/> | ||
| <freejoint/> | ||
| <geom class="visual" mesh="pelvis"/> | ||
| - <body name="left_hip_yaw_link" pos="0 0.0875 -0.1742"> | ||
|
There was a problem hiding this comment. Maybe check to see if this diff can be smaller? |
||
| - <inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244" | ||
| - diaginertia="0.00304494 0.00296885 0.00189201"/> | ||
| - <joint name="left_hip_yaw" axis="0 0 1" range="-0.43 0.43"/> | ||
| - <geom class="visual" mesh="left_hip_yaw_link"/> | ||
| - <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/> | ||
| - <body name="left_hip_roll_link" pos="0.039468 0 0"> | ||
| - <inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232" | ||
| - diaginertia="0.00243264 0.00225325 0.00205492"/> | ||
| - <joint name="left_hip_roll" axis="1 0 0" range="-0.43 0.43"/> | ||
| - <geom class="visual" mesh="left_hip_roll_link"/> | ||
| - <geom class="collision" type="cylinder" size="0.05 0.03" quat="1 1 0 0" pos="0 -0.02 0"/> | ||
| - <body name="left_hip_pitch_link" pos="0 0.11536 0"> | ||
| - <inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152" | ||
| - diaginertia="0.0829503 0.0821457 0.00510909"/> | ||
| - <joint name="left_hip_pitch" axis="0 1 0" range="-1.57 1.57"/> | ||
| - <geom class="visual" mesh="left_hip_pitch_link"/> | ||
| - <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 -0.02 0 0.02"/> | ||
| - <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 0.02 0 0.02"/> | ||
| - <geom class="collision" type="cylinder" size="0.05 0.02" quat="1 1 0 0" pos="0 -0.07 0"/> | ||
| - <body name="left_knee_link" pos="0 0 -0.4"> | ||
| - <inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721" | ||
| - diaginertia="0.0125237 0.0123104 0.0019428"/> | ||
| - <joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/> | ||
| - <geom class="visual" mesh="left_knee_link"/> | ||
| - <geom class="collision" type="capsule" size="0.025" fromto="0.02 0 -0.4 0.02 0 0"/> | ||
| - <geom class="collision" type="sphere" size="0.05" pos="0 0 -0.115"/> | ||
| - <body name="left_ankle_link" pos="0 0 -0.4"> | ||
| - <inertial pos="0.06722 0.00015 -0.04497" quat="0.489101 0.503197 0.565782 0.432972" mass="0.446" | ||
| - diaginertia="0.00220848 0.00218961 0.000214202"/> | ||
| - <joint name="left_ankle" axis="0 1 0" range="-0.87 0.52"/> | ||
| - <geom class="visual" mesh="left_ankle_link"/> | ||
| - <geom class="foot1"/> | ||
| - <geom class="foot2"/> | ||
| - <geom class="foot3"/> | ||
| - </body> | ||
| + <body name="legs"><!--ADDED--> | ||
| + <body name="left_hip_yaw_link" pos="0 0.0875 -0.1742"> | ||
| + <inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244" | ||
| + diaginertia="0.00304494 0.00296885 0.00189201"/> | ||
| + <joint name="left_hip_yaw" axis="0 0 1" range="-0.43 0.43"/> | ||
| + <geom class="visual" mesh="left_hip_yaw_link"/> | ||
| + <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/> | ||
| + <body name="left_hip_roll_link" pos="0.039468 0 0"> | ||
| + <inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232" | ||
| + diaginertia="0.00243264 0.00225325 0.00205492"/> | ||
| + <joint name="left_hip_roll" axis="1 0 0" range="-0.43 0.43"/> | ||
| + <geom class="visual" mesh="left_hip_roll_link"/> | ||
| + <geom class="collision" type="cylinder" size="0.05 0.03" quat="1 1 0 0" pos="0 -0.02 0"/> | ||
| + <body name="left_hip_pitch_link" pos="0 0.11536 0"> | ||
| + <inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152" | ||
| + diaginertia="0.0829503 0.0821457 0.00510909"/> | ||
| + <joint name="left_hip_pitch" axis="0 1 0" range="-1.57 1.57"/> | ||
| + <geom class="visual" mesh="left_hip_pitch_link"/> | ||
| + <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 -0.02 0 0.02"/> | ||
| + <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 0.02 0 0.02"/> | ||
| + <geom class="collision" type="cylinder" size="0.05 0.02" quat="1 1 0 0" pos="0 -0.07 0"/> | ||
| + <body name="left_knee_link" pos="0 0 -0.4"> | ||
| + <inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721" | ||
| + diaginertia="0.0125237 0.0123104 0.0019428"/> | ||
| + <joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/> | ||
| + <geom class="visual" mesh="left_knee_link"/> | ||
| + <geom class="collision" type="capsule" size="0.025" fromto="0.02 0 -0.4 0.02 0 0"/> | ||
| + <geom class="collision" type="sphere" size="0.05" pos="0 0 -0.115"/> | ||
| + <body name="left_ankle_link" pos="0 0 -0.4"> | ||
| + <inertial pos="0.06722 0.00015 -0.04497" quat="0.489101 0.503197 0.565782 0.432972" mass="0.446" | ||
| + diaginertia="0.00220848 0.00218961 0.000214202"/> | ||
| + <joint name="left_ankle" axis="0 1 0" range="-0.87 0.52"/> | ||
| + <geom class="visual" mesh="left_ankle_link"/> | ||
| + <geom class="foot1"/> | ||
| + <geom class="foot2"/> | ||
| + <geom class="foot3"/> | ||
| + </body> | ||
| + </body> | ||
| + </body> | ||
| </body> | ||
| - </body> | ||
| </body> | ||
| - </body> | ||
| - <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742"> | ||
| - <inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244" | ||
| - diaginertia="0.00304494 0.00296885 0.00189201"/> | ||
| - <joint name="right_hip_yaw" axis="0 0 1" range="-0.43 0.43"/> | ||
| - <geom class="visual" mesh="right_hip_yaw_link"/> | ||
| - <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/> | ||
| - <body name="right_hip_roll_link" pos="0.039468 0 0"> | ||
| - <inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232" | ||
| - diaginertia="0.00243264 0.00225325 0.00205492"/> | ||
| - <joint name="right_hip_roll" axis="1 0 0" range="-0.43 0.43"/> | ||
| - <geom class="visual" mesh="right_hip_roll_link"/> | ||
| - <geom class="collision" type="cylinder" size="0.05 0.03" quat="1 1 0 0" pos="0 0.02 0"/> | ||
| - <body name="right_hip_pitch_link" pos="0 -0.11536 0"> | ||
| - <inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152" | ||
| - diaginertia="0.0829503 0.0821457 0.00510909"/> | ||
| - <joint name="right_hip_pitch" axis="0 1 0" range="-1.57 1.57"/> | ||
| - <geom class="visual" mesh="right_hip_pitch_link"/> | ||
| - <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 -0.02 0 0.02"/> | ||
| - <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 0.02 0 0.02"/> | ||
| - <geom class="collision" type="cylinder" size="0.05 0.02" quat="1 1 0 0" pos="0 0.07 0"/> | ||
| - <body name="right_knee_link" pos="0 0 -0.4"> | ||
| - <inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721" | ||
| - diaginertia="0.0125237 0.0123104 0.0019428"/> | ||
| - <joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/> | ||
| - <geom class="visual" mesh="right_knee_link"/> | ||
| - <geom class="collision" type="capsule" size="0.025" fromto="0.02 0 -0.4 0.02 0 0"/> | ||
| - <geom class="collision" type="sphere" size="0.05" pos="0 0 -0.115"/> | ||
| - <body name="right_ankle_link" pos="0 0 -0.4"> | ||
| - <inertial pos="0.06722 -0.00015 -0.04497" quat="0.432972 0.565782 0.503197 0.489101" mass="0.446" | ||
| - diaginertia="0.00220848 0.00218961 0.000214202"/> | ||
| - <joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/> | ||
| - <geom class="visual" mesh="right_ankle_link"/> | ||
| - <geom class="foot1"/> | ||
| - <geom class="foot2"/> | ||
| - <geom class="foot3"/> | ||
| - </body> | ||
| + <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742"> | ||
| + <inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244" | ||
| + diaginertia="0.00304494 0.00296885 0.00189201"/> | ||
| + <joint name="right_hip_yaw" axis="0 0 1" range="-0.43 0.43"/> | ||
| + <geom class="visual" mesh="right_hip_yaw_link"/> | ||
| + <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/> | ||
| + <body name="right_hip_roll_link" pos="0.039468 0 0"> | ||
| + <inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232" | ||
| + diaginertia="0.00243264 0.00225325 0.00205492"/> | ||
| + <joint name="right_hip_roll" axis="1 0 0" range="-0.43 0.43"/> | ||
| + <geom class="visual" mesh="right_hip_roll_link"/> | ||
| + <geom class="collision" type="cylinder" size="0.05 0.03" quat="1 1 0 0" pos="0 0.02 0"/> | ||
| + <body name="right_hip_pitch_link" pos="0 -0.11536 0"> | ||
| + <inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152" | ||
| + diaginertia="0.0829503 0.0821457 0.00510909"/> | ||
| + <joint name="right_hip_pitch" axis="0 1 0" range="-1.57 1.57"/> | ||
| + <geom class="visual" mesh="right_hip_pitch_link"/> | ||
| + <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 -0.02 0 0.02"/> | ||
| + <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 0.02 0 0.02"/> | ||
| + <geom class="collision" type="cylinder" size="0.05 0.02" quat="1 1 0 0" pos="0 0.07 0"/> | ||
| + <body name="right_knee_link" pos="0 0 -0.4"> | ||
| + <inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721" | ||
| + diaginertia="0.0125237 0.0123104 0.0019428"/> | ||
| + <joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/> | ||
| + <geom class="visual" mesh="right_knee_link"/> | ||
| + <geom class="collision" type="capsule" size="0.025" fromto="0.02 0 -0.4 0.02 0 0"/> | ||
| + <geom class="collision" type="sphere" size="0.05" pos="0 0 -0.115"/> | ||
| + <body name="right_ankle_link" pos="0 0 -0.4"> | ||
| + <inertial pos="0.06722 -0.00015 -0.04497" quat="0.432972 0.565782 0.503197 0.489101" mass="0.446" | ||
| + diaginertia="0.00220848 0.00218961 0.000214202"/> | ||
| + <joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/> | ||
| + <geom class="visual" mesh="right_ankle_link"/> | ||
| + <geom class="foot1"/> | ||
| + <geom class="foot2"/> | ||
| + <geom class="foot3"/> | ||
| + </body> | ||
| + </body> | ||
| + </body> | ||
| </body> | ||
| - </body> | ||
| </body> | ||
| </body> | ||
| <body name="torso_link"> | ||
| @@ -153,6 +155,7 @@ | ||
| <geom name="torso" class="collision" type="box" size="0.07 0.1 0.22" pos="0 0 0.25"/> | ||
| <geom name="hip" class="collision" type="capsule" size="0.05" fromto="0 -0.1 -0.05 0 0.1 -0.05"/> | ||
| <site name="imu" pos="-0.04452 -0.01891 0.27756"/> | ||
| + <site name="upper_torso" pos="0 0 0.40"/><!--ADDED--> | ||
| <body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0"> | ||
| <inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033" | ||
| diaginertia="0.00129936 0.000987113 0.000858198"/> | ||
| @@ -239,4 +242,4 @@ | ||
| <motor class="h1" name="right_shoulder_yaw" joint="right_shoulder_yaw" ctrlrange="-18 18"/> | ||
| <motor class="h1" name="right_elbow" joint="right_elbow" ctrlrange="-18 18"/> | ||
| </actuator> | ||
| -</mujoco> | ||
| +</mujoco> | ||
| \ No newline at end of file | ||
|
There was a problem hiding this comment. The xml file should have a new line at the end. |
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,79 @@ | ||
| <mujoco model="H1 Locomotion"> | ||
| <include file="../../common.xml"/> | ||
| <include file="../h1_modified.xml" /> | ||
| <size memory="400K"/> | ||
|
|
||
| <visual> | ||
| <global offwidth="1280" offheight="720"/> | ||
| </visual> | ||
|
|
||
| <worldbody> | ||
| <light pos="0 0 3.5" dir="0 0 -1" directional="true"/> | ||
| <geom name="floor" type="plane" conaffinity="1" size="50 50 .05" material="blue_grid"/> | ||
| <camera name="top" mode="targetbody" target="pelvis" pos="10.0 1.0 3.5" /> | ||
| <body name="goal" mocap="true" pos=".3 0 0.26"> | ||
| <geom size="0.12" contype="0" conaffinity="0" rgba="0 1 0 .5" group="2"/> | ||
| </body> | ||
| </worldbody> | ||
|
|
||
| <custom> | ||
| <!-- agent --> | ||
| <numeric name="agent_planner" data="2" /> | ||
| <numeric name="agent_horizon" data="0.4" /> | ||
| <numeric name="agent_timestep" data="0.02" /> | ||
| <numeric name="agent_integrator" data="3" /> | ||
| <numeric name="sampling_spline_points" data="3" /> | ||
| <numeric name="sampling_exploration" data="0.05" /> | ||
| <numeric name="gradient_spline_points" data="5" /> | ||
| <numeric name="residual_Torso" data="1.30 1.0 1.7" /> | ||
| <numeric name="residual_Speed" data="0.70 -3.0 3.0" /> | ||
| <numeric name="residual_FeetDistance" data="0.4 0.0 1.0" /> | ||
| <numeric name="residual_BalanceSpeed" data="0.3 0.0 1.0" /> | ||
| </custom> | ||
|
|
||
| <sensor> | ||
| <!-- cost --> | ||
| <user name="Height" dim="1" user="7 5.0 0 25.0 0.1 4.0" /> <!--kSmoothAbs2Loss --> | ||
| <user name="Pelvis/Feet" dim="1" user="8 1.0 0.0 10.0 0.05" /> <!--kRectifyLoss--> | ||
| <user name="Balance" dim="2" user="1 5.0 0.0 25.0 0.02 4.0" /> <!--kL22--> | ||
| <user name="Upright" dim="8" user="2 4.0 0.0 25.0 0.01" /> <!--kL2--> | ||
| <user name="Posture torso" dim="1" user="0 0.020 0 1.0" /> <!--kQuadratic--> | ||
| <user name="Posture arms" dim="8" user="0 0.020 0 1.0" /> <!--kQuadratic--> | ||
| <user name="Face goal" dim="4" user="7 2.0 0.0 25.0 0.5 3.0" /> <!--kSmoothAbs2Loss --> | ||
| <user name="Walk forward" dim="1" user="7 7.88 0.0 25.0 0.5 3.0" /> <!--kSmoothAbs2Loss --> | ||
| <user name="Move feet" dim="2" user="7 4.0 0 25.0 0.2 4.0" /> <!--kSmoothAbs2Loss --> | ||
| <user name="Control" dim="19" user="0 0.00005 0.00001 0.001" /> <!--kQuadratic--> | ||
| <user name="Feet Distance" dim="1" user="7 5.62 0 25.0 0.1 4.0" /> <!--kSmoothAbs2Loss--> | ||
| <user name="Leg cross" dim="2" user="8 1.0 0.0 20.0 0.05" /> <!--kRectifyLoss--> | ||
| <user name="Slippage" dim="2" user="0 0.0 0 50.0" /> <!--kQuadratic--> | ||
|
|
||
| <!-- residual --> | ||
| <framepos name="torso_position" objtype="body" objname="torso_link"/> | ||
| <subtreecom name="torso_subcom" body="pelvis"/> <!--pelvis is the root node for the H1--> | ||
| <subtreelinvel name="torso_subcomvel" body="pelvis"/> <!--pelvis is the root node for the H1--> | ||
| <framepos name="foot_right" objtype="body" objname="right_ankle_link"/> | ||
| <framepos name="foot_left" objtype="body" objname="left_ankle_link"/> | ||
| <framepos name="foot_right_xbody" objtype="xbody" objname="right_ankle_link"/> | ||
| <framepos name="foot_left_xbody" objtype="xbody" objname="left_ankle_link"/> | ||
| <framepos name="pelvis_position" objtype="body" objname="pelvis"/> | ||
| <framepos name="goal" objtype="xbody" objname="goal"/> | ||
| <framezaxis name="torso_up" objtype="site" objname="upper_torso"/><!--upper_torso is between the shoulders--> | ||
| <framezaxis name="pelvis_up" objtype="xbody" objname="pelvis"/> | ||
| <framezaxis name="foot_right_up" objtype="xbody" objname="right_ankle_link"/> | ||
| <framezaxis name="foot_left_up" objtype="xbody" objname="left_ankle_link"/> | ||
| <frameyaxis name="foot_left_left" objtype="xbody" objname="left_ankle_link"/> | ||
| <framexaxis name="torso_forward" objtype="site" objname="upper_torso"/> | ||
| <framexaxis name="pelvis_forward" objtype="xbody" objname="pelvis"/> | ||
| <framexaxis name="foot_right_forward" objtype="xbody" objname="right_ankle_link"/> | ||
| <framexaxis name="foot_left_forward" objtype="xbody" objname="left_ankle_link"/> | ||
| <framexaxis name="goal_forward" objtype="xbody" objname="goal"/> | ||
| <subtreelinvel name="waist_lower_subcomvel" body="legs"/> | ||
| <framelinvel name="torso_velocity" objtype="body" objname="torso_link"/> | ||
| <framelinvel name="foot_right_velocity" objtype="body" objname="right_ankle_link"/> | ||
| <framelinvel name="foot_left_velocity" objtype="body" objname="left_ankle_link"/> | ||
| <frameangvel name="foot_right_ang_velocity" objtype="body" objname="right_ankle_link"/> | ||
| <frameangvel name="foot_left_ang_velocity" objtype="body" objname="left_ankle_link"/> | ||
| <jointpos name="right_hip_roll" joint="right_hip_roll"/> | ||
| <jointpos name="left_hip_roll" joint="left_hip_roll"/> | ||
| </sensor> | ||
| </mujoco> |
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Please remove the file links to your machine. You can replace them with something generic like the other .patch files.