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Physics-rate PD actuators, named collision geoms, lite_biped_debug variant #13

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Merged
T-K-233 merged 1 commit into from
Jul 27, 2026
Merged

Physics-rate PD actuators, named collision geoms, lite_biped_debug variant #13

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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ set(ROBOTS
lite
lite_bimanual
lite_biped
lite_biped_debug
lite_dummy
lite_pro
)
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9 changes: 9 additions & 0 deletions robot_assets/workflow/urdf_to_mjcf.py
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Expand Up @@ -336,9 +336,18 @@ def is_collision(geom: ET.Element) -> bool:
def walk(body: ET.Element, in_foot: bool) -> None:
nonlocal n_foot, n_other
foot = in_foot or (body.get("name") in foot_bodies)
# Name collision geoms <body>_collision_<i>. MuJoCo leaves URDF-imported
# geoms anonymous, but the training env selects them BY NAME -- mjlab's
# friction DR matches r"^(left|right)_foot_collision_\d+$" -- and an
# unnamed geom can never match, so the randomization would silently do
# nothing. Only fills blanks; an explicit name in the MJCF wins.
collision_index = 0
for geom in body.findall("geom"):
if not is_collision(geom):
continue
if not geom.get("name"):
geom.set("name", f"{body.get('name')}_collision_{collision_index}")
collision_index += 1
if foot:
geom.set("condim", "3")
geom.set("friction", foot_friction_str)
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2 changes: 1 addition & 1 deletion robots/lite/mjcf/lite.xml
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Expand Up @@ -462,4 +462,4 @@
</body>
</body>
</worldbody>
<actuator><motor name="left_hip_pitch" joint="left_hip_pitch" forcerange="-36.0 36.0" /><motor name="left_hip_roll" joint="left_hip_roll" forcerange="-36.0 36.0" /><motor name="left_hip_yaw" joint="left_hip_yaw" forcerange="-17.0 17.0" /><motor name="left_knee_pitch" joint="left_knee_pitch" forcerange="-36.0 36.0" /><motor name="left_ankle_yaw" joint="left_ankle_yaw" forcerange="-14.0 14.0" /><motor name="left_ankle_pitch" joint="left_ankle_pitch" forcerange="-14.0 14.0" /><motor name="left_ankle_roll" joint="left_ankle_roll" forcerange="-5.5 5.5" /><motor name="right_hip_pitch" joint="right_hip_pitch" forcerange="-36.0 36.0" /><motor name="right_hip_roll" joint="right_hip_roll" forcerange="-36.0 36.0" /><motor name="right_hip_yaw" joint="right_hip_yaw" forcerange="-17.0 17.0" /><motor name="right_knee_pitch" joint="right_knee_pitch" forcerange="-36.0 36.0" /><motor name="right_ankle_yaw" joint="right_ankle_yaw" forcerange="-14.0 14.0" /><motor name="right_ankle_pitch" joint="right_ankle_pitch" forcerange="-14.0 14.0" /><motor name="right_ankle_roll" joint="right_ankle_roll" forcerange="-5.5 5.5" /><motor name="waist_yaw" joint="waist_yaw" forcerange="-36.0 36.0" /><motor name="left_shoulder_pitch" joint="left_shoulder_pitch" forcerange="-17.0 17.0" /><motor name="left_shoulder_roll" joint="left_shoulder_roll" forcerange="-14.0 14.0" /><motor name="left_shoulder_yaw" joint="left_shoulder_yaw" forcerange="-14.0 14.0" /><motor name="left_elbow_pitch" joint="left_elbow_pitch" forcerange="-14.0 14.0" /><motor name="left_wrist_yaw" joint="left_wrist_yaw" forcerange="-5.5 5.5" /><motor name="left_wrist_roll" joint="left_wrist_roll" forcerange="-5.5 5.5" /><motor name="left_wrist_pitch" joint="left_wrist_pitch" forcerange="-5.5 5.5" /><motor name="left_finger1_j1" joint="left_finger1_j1" forcerange="-10 10" /><motor name="left_finger1_j2" joint="left_finger1_j2" forcerange="-10 10" /><motor name="left_finger1_j3" joint="left_finger1_j3" forcerange="-10 10" /><motor name="left_finger1_j4" joint="left_finger1_j4" forcerange="-10 10" /><motor name="left_finger2_j1" joint="left_finger2_j1" forcerange="-10 10" /><motor name="left_finger2_j2" joint="left_finger2_j2" forcerange="-10 10" /><motor name="left_finger2_j3" joint="left_finger2_j3" forcerange="-10 10" /><motor name="left_finger2_j4" joint="left_finger2_j4" forcerange="-10 10" /><motor name="left_finger3_j1" joint="left_finger3_j1" forcerange="-10 10" /><motor name="left_finger3_j2" joint="left_finger3_j2" forcerange="-10 10" /><motor name="left_finger3_j3" joint="left_finger3_j3" forcerange="-10 10" /><motor name="left_finger3_j4" joint="left_finger3_j4" forcerange="-10 10" /><motor name="left_finger4_j1" joint="left_finger4_j1" forcerange="-10 10" /><motor name="left_finger4_j2" joint="left_finger4_j2" forcerange="-10 10" /><motor name="left_finger4_j3" joint="left_finger4_j3" forcerange="-10 10" /><motor name="left_finger4_j4" joint="left_finger4_j4" forcerange="-10 10" /><motor name="left_finger5_j1" joint="left_finger5_j1" forcerange="-10 10" /><motor name="left_finger5_j2" joint="left_finger5_j2" forcerange="-10 10" /><motor name="left_finger5_j3" joint="left_finger5_j3" forcerange="-10 10" /><motor name="left_finger5_j4" joint="left_finger5_j4" forcerange="-10 10" /><motor name="right_shoulder_pitch" joint="right_shoulder_pitch" forcerange="-17.0 17.0" /><motor name="right_shoulder_roll" joint="right_shoulder_roll" forcerange="-14.0 14.0" /><motor name="right_shoulder_yaw" joint="right_shoulder_yaw" forcerange="-14.0 14.0" /><motor name="right_elbow_pitch" joint="right_elbow_pitch" forcerange="-14.0 14.0" /><motor name="right_wrist_yaw" joint="right_wrist_yaw" forcerange="-5.5 5.5" /><motor name="right_wrist_roll" joint="right_wrist_roll" forcerange="-5.5 5.5" /><motor name="right_wrist_pitch" joint="right_wrist_pitch" forcerange="-5.5 5.5" /><motor name="right_finger1_j1" joint="right_finger1_j1" forcerange="-10 10" /><motor name="right_finger1_j2" joint="right_finger1_j2" forcerange="-10 10" /><motor name="right_finger1_j3" joint="right_finger1_j3" forcerange="-10 10" /><motor name="right_finger1_j4" joint="right_finger1_j4" forcerange="-10 10" /><motor name="right_finger2_j1" joint="right_finger2_j1" forcerange="-10 10" /><motor name="right_finger2_j2" joint="right_finger2_j2" forcerange="-10 10" /><motor name="right_finger2_j3" joint="right_finger2_j3" forcerange="-10 10" /><motor name="right_finger2_j4" joint="right_finger2_j4" forcerange="-10 10" /><motor name="right_finger3_j1" joint="right_finger3_j1" forcerange="-10 10" /><motor name="right_finger3_j2" joint="right_finger3_j2" forcerange="-10 10" /><motor name="right_finger3_j3" joint="right_finger3_j3" forcerange="-10 10" /><motor name="right_finger3_j4" joint="right_finger3_j4" forcerange="-10 10" /><motor name="right_finger4_j1" joint="right_finger4_j1" forcerange="-10 10" /><motor name="right_finger4_j2" joint="right_finger4_j2" forcerange="-10 10" /><motor name="right_finger4_j3" joint="right_finger4_j3" forcerange="-10 10" /><motor name="right_finger4_j4" joint="right_finger4_j4" forcerange="-10 10" /><motor name="right_finger5_j1" joint="right_finger5_j1" forcerange="-10 10" /><motor name="right_finger5_j2" joint="right_finger5_j2" forcerange="-10 10" /><motor name="right_finger5_j3" joint="right_finger5_j3" forcerange="-10 10" /><motor name="right_finger5_j4" joint="right_finger5_j4" forcerange="-10 10" /><motor name="neck_yaw" joint="neck_yaw" forcerange="-4.8 4.8" /><motor name="neck_roll" joint="neck_roll" forcerange="-4.8 4.8" /><motor name="neck_pitch" joint="neck_pitch" forcerange="-4.8 4.8" /></actuator></mujoco>
<actuator><position name="left_hip_pitch" joint="left_hip_pitch" forcerange="-36.0 36.0" /><position name="left_hip_roll" joint="left_hip_roll" forcerange="-36.0 36.0" /><position name="left_hip_yaw" joint="left_hip_yaw" forcerange="-17.0 17.0" /><position name="left_knee_pitch" joint="left_knee_pitch" forcerange="-36.0 36.0" /><position name="left_ankle_yaw" joint="left_ankle_yaw" forcerange="-14.0 14.0" /><position name="left_ankle_pitch" joint="left_ankle_pitch" forcerange="-14.0 14.0" /><position name="left_ankle_roll" joint="left_ankle_roll" forcerange="-5.5 5.5" /><position name="right_hip_pitch" joint="right_hip_pitch" forcerange="-36.0 36.0" /><position name="right_hip_roll" joint="right_hip_roll" forcerange="-36.0 36.0" /><position name="right_hip_yaw" joint="right_hip_yaw" forcerange="-17.0 17.0" /><position name="right_knee_pitch" joint="right_knee_pitch" forcerange="-36.0 36.0" /><position name="right_ankle_yaw" joint="right_ankle_yaw" forcerange="-14.0 14.0" /><position name="right_ankle_pitch" joint="right_ankle_pitch" forcerange="-14.0 14.0" /><position name="right_ankle_roll" joint="right_ankle_roll" forcerange="-5.5 5.5" /><position name="waist_yaw" joint="waist_yaw" forcerange="-36.0 36.0" /><position name="left_shoulder_pitch" joint="left_shoulder_pitch" forcerange="-17.0 17.0" /><position name="left_shoulder_roll" joint="left_shoulder_roll" forcerange="-14.0 14.0" /><position name="left_shoulder_yaw" joint="left_shoulder_yaw" forcerange="-14.0 14.0" /><position name="left_elbow_pitch" joint="left_elbow_pitch" forcerange="-14.0 14.0" /><position name="left_wrist_yaw" joint="left_wrist_yaw" forcerange="-5.5 5.5" /><position name="left_wrist_roll" joint="left_wrist_roll" forcerange="-5.5 5.5" /><position name="left_wrist_pitch" joint="left_wrist_pitch" forcerange="-5.5 5.5" /><position name="left_finger1_j1" joint="left_finger1_j1" forcerange="-10 10" /><position name="left_finger1_j2" joint="left_finger1_j2" forcerange="-10 10" /><position name="left_finger1_j3" joint="left_finger1_j3" forcerange="-10 10" /><position name="left_finger1_j4" joint="left_finger1_j4" forcerange="-10 10" /><position name="left_finger2_j1" joint="left_finger2_j1" forcerange="-10 10" /><position name="left_finger2_j2" joint="left_finger2_j2" forcerange="-10 10" /><position name="left_finger2_j3" joint="left_finger2_j3" forcerange="-10 10" /><position name="left_finger2_j4" joint="left_finger2_j4" forcerange="-10 10" /><position name="left_finger3_j1" joint="left_finger3_j1" forcerange="-10 10" /><position name="left_finger3_j2" joint="left_finger3_j2" forcerange="-10 10" /><position name="left_finger3_j3" joint="left_finger3_j3" forcerange="-10 10" /><position name="left_finger3_j4" joint="left_finger3_j4" forcerange="-10 10" /><position name="left_finger4_j1" joint="left_finger4_j1" forcerange="-10 10" /><position name="left_finger4_j2" joint="left_finger4_j2" forcerange="-10 10" /><position name="left_finger4_j3" joint="left_finger4_j3" forcerange="-10 10" /><position name="left_finger4_j4" joint="left_finger4_j4" forcerange="-10 10" /><position name="left_finger5_j1" joint="left_finger5_j1" forcerange="-10 10" /><position name="left_finger5_j2" joint="left_finger5_j2" forcerange="-10 10" /><position name="left_finger5_j3" joint="left_finger5_j3" forcerange="-10 10" /><position name="left_finger5_j4" joint="left_finger5_j4" forcerange="-10 10" /><position name="right_shoulder_pitch" joint="right_shoulder_pitch" forcerange="-17.0 17.0" /><position name="right_shoulder_roll" joint="right_shoulder_roll" forcerange="-14.0 14.0" /><position name="right_shoulder_yaw" joint="right_shoulder_yaw" forcerange="-14.0 14.0" /><position name="right_elbow_pitch" joint="right_elbow_pitch" forcerange="-14.0 14.0" /><position name="right_wrist_yaw" joint="right_wrist_yaw" forcerange="-5.5 5.5" /><position name="right_wrist_roll" joint="right_wrist_roll" forcerange="-5.5 5.5" /><position name="right_wrist_pitch" joint="right_wrist_pitch" forcerange="-5.5 5.5" /><position name="right_finger1_j1" joint="right_finger1_j1" forcerange="-10 10" /><position name="right_finger1_j2" joint="right_finger1_j2" forcerange="-10 10" /><position name="right_finger1_j3" joint="right_finger1_j3" forcerange="-10 10" /><position name="right_finger1_j4" joint="right_finger1_j4" forcerange="-10 10" /><position name="right_finger2_j1" joint="right_finger2_j1" forcerange="-10 10" /><position name="right_finger2_j2" joint="right_finger2_j2" forcerange="-10 10" /><position name="right_finger2_j3" joint="right_finger2_j3" forcerange="-10 10" /><position name="right_finger2_j4" joint="right_finger2_j4" forcerange="-10 10" /><position name="right_finger3_j1" joint="right_finger3_j1" forcerange="-10 10" /><position name="right_finger3_j2" joint="right_finger3_j2" forcerange="-10 10" /><position name="right_finger3_j3" joint="right_finger3_j3" forcerange="-10 10" /><position name="right_finger3_j4" joint="right_finger3_j4" forcerange="-10 10" /><position name="right_finger4_j1" joint="right_finger4_j1" forcerange="-10 10" /><position name="right_finger4_j2" joint="right_finger4_j2" forcerange="-10 10" /><position name="right_finger4_j3" joint="right_finger4_j3" forcerange="-10 10" /><position name="right_finger4_j4" joint="right_finger4_j4" forcerange="-10 10" /><position name="right_finger5_j1" joint="right_finger5_j1" forcerange="-10 10" /><position name="right_finger5_j2" joint="right_finger5_j2" forcerange="-10 10" /><position name="right_finger5_j3" joint="right_finger5_j3" forcerange="-10 10" /><position name="right_finger5_j4" joint="right_finger5_j4" forcerange="-10 10" /><position name="neck_yaw" joint="neck_yaw" forcerange="-4.8 4.8" /><position name="neck_roll" joint="neck_roll" forcerange="-4.8 4.8" /><position name="neck_pitch" joint="neck_pitch" forcerange="-4.8 4.8" /></actuator></mujoco>
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