Feat/lite biped deploy - #10
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… masses Extend the robot_assets generator and the lite_biped variant to produce a MuJoCo deploy/sim asset for the biped locomotion stack: - urdf_to_mjcf: add a floating base, IMU site + accel/gyro/quat/vel/pos sensors, and foot-contact patching (foot bodies condim=3 + friction/priority, others condim=1), all opt-in per variant via cad/physics.json. - urdf_to_xacro: emit a base_imu ros2_control sensor block (sim only). - lite_biped/cad: physics.json (option matched to mjlab: timestep 0.005, pyramidal cone, impratio 1, iterations 10/20; + freejoint/imu/contact) and a new ros2_control.json (legs + imu). - lite_biped/mjcf: regenerated lite_biped.xml + hand-authored lite_biped_scene.xml (floor + light + `home` standing keyframe at base z=0.80). - Link masses/inertias now the measured 3D-printed-part values (pelvis 2.1, total ~11.48 kg), incorporating Lite-Description 479ed5e -- matches the training asset (was outdated CAD masses ~18.5 kg). Regenerated urdf/xacro/mjcf; 1415 generator tests pass. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_019QrgD2S2yba6bDj4wzGWeB
… mount - ros2_control.json: real leg CAN ids from a live bus scan (left can2 31-37, right can3 41-47), buses can2/can3, and commissioned joint directions (5 flipped to -1: left_hip_pitch/knee_pitch/ankle_roll, right_ankle_pitch/ ankle_roll -- verified in the viewer against the physical robot). - ankle_yaw limit +/-45deg -> +/-90deg from the updated CAD export (matches the real hardware range). Regenerated urdf/mjcf/xacro from the export's robot.pkl. - IMU: the new CAD adds an `imu` link at the real mount (pelvis+0.08); kept it and moved the sim imu_site + base sensors there (physics.json imu.pos) so the sim IMU sits where the real one is. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_019QrgD2S2yba6bDj4wzGWeB
…merged inputs main landed the measured masses (479ed5e) + an IMU frame at pelvis+0.08 (ff02069, with re-exported meshes) in parallel; this branch had the same masses+IMU plus ankle_yaw +/-90deg, the real leg CAN map/directions, and the full sim-deploy generation. Resolution: took main's re-exported meshes + URDF geometry, re-applied ankle_yaw +/-90deg, and regenerated mjcf/xacro from that URDF + this branch's cad/ (physics.json imu@0.08 + freejoint + contacts; ros2_control.json real CAN 31-37/41-47 + 5 flipped directions). Kept ros2_control.json/.xacro + lite_biped_scene.xml (branch-only). Verified: mjcf loads (nbody 17), ankle_yaw +/-1.5708, imu_site z=0.08, pelvis mass 2.1; 1418 generator tests pass. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_019QrgD2S2yba6bDj4wzGWeB
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