tinysim 0.0.2__py3-none-any.whl → 0.0.4__py3-none-any.whl

tinysim_mujoco/unitree_a1/unitree_a1/LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

tinysim_mujoco/unitree_a1/unitree_a1/README.md

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+# Unitree A1 Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [A1 Quadruped
+Robot](https://www.unitree.com/a1/) developed by [Unitree
+Robotics](https://www.unitree.com/). It is derived from the [publicly available
+URDF
+description](https://github.com/unitreerobotics/unitree_mujoco/tree/main/data/a1/urdf).
+
+<p float="left">
+  <img src="a1.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+   files](https://github.com/unitreerobotics/unitree_mujoco/tree/main/data/a1/meshes)
+to OBJ format using [Blender](https://www.blender.org/).
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Added a `<freejoint/>` to the base, and a tracking light.
+6. Manually edited the MJCF to extract common properties into the `<default>` section.
+7. Manually designed collision geometries.
+8. Shifted joint reference values and ranges so that 0 corresponds to standing pose.
+9. Softened the contacts of the feet to approximate the effect of rubber and
+   increased `impratio` to reduce slippage.
+10. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).

tinysim_mujoco/unitree_a1/unitree_a1/a1.xml

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+<mujoco model="a1">
+  <compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/>
+
+
+
+  <default>
+    <default class="a1">
+      <geom friction="0.6" margin="0.001"/>
+      <joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/>
+      <position kp="100" kv="2.5" forcerange="-33.5 33.5"/>
+      <default class="abduction">
+        <joint axis="1 0 0" damping="1" range="-0.802851 0.802851"/>
+        <position ctrlrange="-0.802851 0.802851"/>
+      </default>
+      <default class="hip">
+        <joint range="-1.0472 4.18879"/>
+        <position  ctrlrange="-1.0472 4.18879"/>
+      </default>
+      <default class="knee">
+        <joint range="-2.69653 -0.916298"/>
+        <position ctrlrange="-2.69653 -0.916298"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="dark"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="capsule"/>
+        <default class="hip_left">
+          <geom size="0.04 0.04" quat="1 1 0 0" type="cylinder" pos="0 0.055 0"/>
+        </default>
+        <default class="hip_right">
+          <geom size="0.04 0.04" quat="1 1 0 0" type="cylinder" pos="0 -0.055 0"/>
+        </default>
+        <default class="thigh1">
+          <geom size="0.015" fromto="-0.02 0 0 -0.02 0 -0.16"/>
+        </default>
+        <default class="thigh2">
+          <geom size="0.015" fromto="0 0 0 -0.02 0 -0.1"/>
+        </default>
+        <default class="thigh3">
+          <geom size="0.015" fromto="-0.02 0 -0.16 0 0 -0.2"/>
+        </default>
+        <default class="calf1">
+          <geom size="0.01" fromto="0 0 0 0.02 0 -0.13"/>
+        </default>
+        <default class="calf2">
+          <geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
+        </default>
+        <default class="foot">
+          <geom type="sphere" size="0.02" pos="0 0 -0.2" priority="1" condim="6" friction="0.8 0.02 0.01"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="dark" specular="0" shininess="0.25" rgba="0.2 0.2 0.2 1"/>
+    <texture type="2d" name="trunk_A1" file="trunk_A1.png"/>
+    <material name="carbonfibre" texture="trunk_A1" specular="0" shininess="0.25"/>
+
+    <mesh class="a1" file="calf.obj"/>
+    <mesh class="a1" file="hip.obj"/>
+    <mesh class="a1" file="thigh.obj"/>
+    <mesh class="a1" file="thigh_mirror.obj"/>
+    <mesh class="a1" file="trunk.obj"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="trunk" pos="0 -1 2"/>
+    <body name="trunk" pos="0 0 0.43" childclass="a1">
+      <freejoint/>
+      <inertial mass="4.713" pos="0 0.0041 -0.0005"
+        fullinertia="0.0158533 0.0377999 0.0456542 -3.66e-05 -6.11e-05 -2.75e-05"/>
+      <geom class="visual" mesh="trunk" material="carbonfibre"/>
+      <geom class="collision" size="0.125 0.04 0.057" type="box"/>
+      <geom class="collision" quat="1 0 1 0" pos="0 -0.04 0" size="0.058 0.125" type="cylinder"/>
+      <geom class="collision" quat="1 0 1 0" pos="0 +0.04 0" size="0.058 0.125" type="cylinder"/>
+      <geom class="collision" pos="0.25 0 0" size="0.005 0.06 0.05" type="box"/>
+      <geom class="collision" pos="0.25 0.06 -0.01" size="0.009 0.035"/>
+      <geom class="collision" pos="0.25 -0.06 -0.01" size="0.009 0.035"/>
+      <geom class="collision" pos="0.25 0 -0.05" size="0.005 0.06" quat="1 1 0 0"/>
+      <geom class="collision" pos="0.255 0 0.0355" size="0.021 0.052" quat="1 1 0 0"/>
+      <body name="FR_hip" pos="0.183 -0.047 0">
+        <inertial mass="0.696" pos="-0.003311 -0.000635 3.1e-05" quat="0.507528 0.506268 0.491507 0.494499"
+          diaginertia="0.000807752 0.00055293 0.000468983"/>
+        <joint class="abduction" name="FR_hip_joint"/>
+        <geom class="visual" mesh="hip" quat="0 1 0 0"/>
+        <geom class="hip_right"/>
+        <body name="FR_thigh" pos="0 -0.08505 0">
+          <inertial mass="1.013" pos="-0.003237 0.022327 -0.027326" quat="0.999125 -0.00256393 -0.0409531 -0.00806091"
+            diaginertia="0.00555739 0.00513936 0.00133944"/>
+          <joint class="hip" name="FR_thigh_joint"/>
+          <geom class="visual" mesh="thigh_mirror"/>
+          <geom class="thigh1"/>
+          <geom class="thigh2"/>
+          <geom class="thigh3"/>
+          <body name="FR_calf" pos="0 0 -0.2">
+            <inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
+              diaginertia="0.00340344 0.00339393 3.54834e-05"/>
+            <joint class="knee" name="FR_calf_joint"/>
+            <geom class="visual" mesh="calf"/>
+            <geom class="calf1"/>
+            <geom class="calf2"/>
+            <geom class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="FL_hip" pos="0.183 0.047 0">
+        <inertial mass="0.696" pos="-0.003311 0.000635 3.1e-05" quat="0.494499 0.491507 0.506268 0.507528"
+          diaginertia="0.000807752 0.00055293 0.000468983"/>
+        <joint class="abduction" name="FL_hip_joint"/>
+        <geom class="visual" mesh="hip"/>
+        <geom class="hip_left"/>
+        <geom class="collision" size="0.04 0.04" pos="0 0.055 0" quat="1 1 0 0" type="cylinder"/>
+        <body name="FL_thigh" pos="0 0.08505 0">
+          <inertial mass="1.013" pos="-0.003237 -0.022327 -0.027326" quat="0.999125 0.00256393 -0.0409531 0.00806091"
+            diaginertia="0.00555739 0.00513936 0.00133944"/>
+          <joint class="hip" name="FL_thigh_joint"/>
+          <geom class="visual" mesh="thigh"/>
+          <geom class="thigh1"/>
+          <geom class="thigh2"/>
+          <geom class="thigh3"/>
+          <body name="FL_calf" pos="0 0 -0.2">
+            <inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
+              diaginertia="0.00340344 0.00339393 3.54834e-05"/>
+            <joint class="knee" name="FL_calf_joint"/>
+            <geom class="visual" mesh="calf"/>
+            <geom class="calf1"/>
+            <geom class="calf2"/>
+            <geom class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.183 -0.047 0">
+        <inertial mass="0.696" pos="0.003311 -0.000635 3.1e-05" quat="0.491507 0.494499 0.507528 0.506268"
+          diaginertia="0.000807752 0.00055293 0.000468983"/>
+        <joint class="abduction" name="RR_hip_joint"/>
+        <geom class="visual" quat="0 0 0 -1" mesh="hip"/>
+        <geom class="hip_right"/>
+        <body name="RR_thigh" pos="0 -0.08505 0">
+          <inertial mass="1.013" pos="-0.003237 0.022327 -0.027326" quat="0.999125 -0.00256393 -0.0409531 -0.00806091"
+            diaginertia="0.00555739 0.00513936 0.00133944"/>
+          <joint class="hip" name="RR_thigh_joint"/>
+          <geom class="visual" mesh="thigh_mirror"/>
+          <geom class="thigh1"/>
+          <geom class="thigh2"/>
+          <geom class="thigh3"/>
+          <body name="RR_calf" pos="0 0 -0.2">
+            <inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
+              diaginertia="0.00340344 0.00339393 3.54834e-05"/>
+            <joint class="knee" name="RR_calf_joint"/>
+            <geom class="visual" mesh="calf"/>
+            <geom class="calf1"/>
+            <geom class="calf2"/>
+            <geom class="foot"/>
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.183 0.047 0">
+        <inertial mass="0.696" pos="0.003311 0.000635 3.1e-05" quat="0.506268 0.507528 0.494499 0.491507"
+          diaginertia="0.000807752 0.00055293 0.000468983"/>
+        <joint class="abduction" name="RL_hip_joint"/>
+        <geom class="visual" quat="0 0 1 0" mesh="hip"/>
+        <geom class="hip_left"/>
+        <body name="RL_thigh" pos="0 0.08505 0">
+          <inertial mass="1.013" pos="-0.003237 -0.022327 -0.027326" quat="0.999125 0.00256393 -0.0409531 0.00806091"
+            diaginertia="0.00555739 0.00513936 0.00133944"/>
+          <joint class="hip" name="RL_thigh_joint"/>
+          <geom class="visual" mesh="thigh"/>
+          <geom class="thigh1"/>
+          <geom class="thigh2"/>
+          <geom class="thigh3"/>
+          <body name="RL_calf" pos="0 0 -0.2">
+            <inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
+              diaginertia="0.00340344 0.00339393 3.54834e-05"/>
+            <joint class="knee" name="RL_calf_joint"/>
+            <geom class="visual" mesh="calf"/>
+            <geom class="calf1"/>
+            <geom class="calf2"/>
+            <geom class="foot"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position class="abduction" name="FR_hip" joint="FR_hip_joint"/>
+    <position class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
+    <position class="knee" name="FR_calf" joint="FR_calf_joint"/>
+    <position class="abduction" name="FL_hip" joint="FL_hip_joint"/>
+    <position class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
+    <position class="knee" name="FL_calf" joint="FL_calf_joint"/>
+    <position class="abduction" name="RR_hip" joint="RR_hip_joint"/>
+    <position class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
+    <position class="knee" name="RR_calf" joint="RR_calf_joint"/>
+    <position class="abduction" name="RL_hip" joint="RL_hip_joint"/>
+    <position class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
+    <position class="knee" name="RL_calf" joint="RL_calf_joint"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"
+      ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"/>
+  </keyframe>
+</mujoco>