Skip to content

Commit

Permalink
🚀 [RofuncRL] Update mjcf for HOTU
Browse files Browse the repository at this point in the history
  • Loading branch information
@Skylark0924
Skylark0924 committed Sep 11, 2023
1 parent 33e5bd9 commit a32be5a
Show file tree
Hide file tree
Showing 3 changed files with 241 additions and 0 deletions.
19 changes: 19 additions & 0 deletions rofunc/learning/RofuncRL/tasks/ase/humanoid.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -225,26 +225,45 @@ def _setup_character_props(self, key_bodies):
num_key_bodies = len(key_bodies)

if asset_file == "mjcf/amp_humanoid.xml":
# ['pelvis', 'torso', 'head', 'right_upper_arm', 'right_lower_arm', 'right_hand', 'left_upper_arm',
# 'left_lower_arm', 'left_hand', 'right_thigh', 'right_shin', 'right_foot', 'left_thigh', 'left_shin',
# 'left_foot']
self._dof_body_ids = [1, 2, 3, 4, 6, 7, 9, 10, 11, 12, 13, 14]
self._dof_offsets = [0, 3, 6, 9, 10, 13, 14, 17, 18, 21, 24, 25, 28]
self._dof_obs_size = 72
self._num_actions = 28
self._num_obs = 1 + 15 * (3 + 6 + 3 + 3) - 3

elif asset_file == "mjcf/amp_humanoid_sword_shield.xml":
# ['pelvis', 'torso', 'head', 'right_upper_arm', 'right_lower_arm', 'right_hand', 'sword', 'left_upper_arm',
# 'left_lower_arm', 'shield', 'left_hand', 'right_thigh', 'right_shin', 'right_foot', 'left_thigh',
# 'left_shin', 'left_foot']
self._dof_body_ids = [1, 2, 3, 4, 5, 7, 8, 11, 12, 13, 14, 15, 16]
self._dof_offsets = [0, 3, 6, 9, 10, 13, 16, 17, 20, 21, 24, 27, 28, 31]
self._dof_obs_size = 78
self._num_actions = 31
self._num_obs = 1 + 17 * (3 + 6 + 3 + 3) - 3

elif asset_file == "mjcf/hotu_humanoid.xml":
# ['pelvis', 'torso', 'head', 'right_upper_arm', 'right_lower_arm', 'right_hand', 'sword', 'left_upper_arm',
# 'left_lower_arm', 'shield', 'left_hand', 'right_thigh', 'right_shin', 'right_foot', 'left_thigh',
# 'left_shin', 'left_foot']
self._dof_body_ids = [1, 2, 3, 4, 5, 7, 8, 10, 11, 12, 13, 14, 15, 16]
self._dof_offsets = [0, 3, 6, 9, 10, 13, 16, 17, 20, 23, 24, 27, 30, 31, 34]
self._dof_obs_size = 84
self._num_actions = 34
self._num_obs = 1 + 15 * (3 + 6 + 3 + 3) - 3 # Check

elif asset_file == "mjcf/hotu_humanoid2.xml":
# ['pelvis', 'torso', 'head', 'right_upper_arm', 'right_lower_arm', 'right_hand', 'left_upper_arm',
# 'left_lower_arm', 'left_hand', 'right_thigh', 'right_shin', 'right_foot', 'left_thigh', 'left_shin',
# 'left_foot']
self._dof_body_ids = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
self._dof_offsets = [0, 3, 6, 9, 10, 13, 16, 17, 20, 23, 24, 27, 30, 31, 34]
self._dof_obs_size = 84
self._num_actions = 34
self._num_obs = 1 + 15 * (3 + 6 + 3 + 3) - 3 # Check

else:
print("Unsupported character config file: {s}".format(asset_file))
assert False
Expand Down
2 changes: 2 additions & 0 deletions rofunc/learning/RofuncRL/tasks/ase/humanoid_amp.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -157,6 +157,8 @@ def _setup_character_props(self, key_bodies):
self._num_amp_obs_per_step = 13 + self._dof_obs_size + 31 + 3 * num_key_bodies # [root_h, root_rot, root_vel, root_ang_vel, dof_pos, dof_vel, key_body_pos]
elif asset_file == "mjcf/hotu_humanoid.xml":
self._num_amp_obs_per_step = 13 + self._dof_obs_size + 34 + 3 * num_key_bodies
elif asset_file == "mjcf/hotu_humanoid2.xml":
self._num_amp_obs_per_step = 13 + self._dof_obs_size + 34 + 3 * num_key_bodies
else:
print("Unsupported character config file: {s}".format(asset_file))
assert False
Expand Down
220 changes: 220 additions & 0 deletions rofunc/simulator/assets/mjcf/hotu_humanoid2.xml
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,220 @@
<mujoco model="humanoid">

<statistic extent="2" center="0 0 1"/>

<option timestep="0.00555"/>

<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<geom type="capsule" condim="1" friction="1.0 0.05 0.05" solimp=".9 .99 .003" solref=".015 1"/>
<joint type="hinge" damping="0.1" stiffness="5" armature=".007" limited="true" solimplimit="0 .99 .01"/>
<site size=".04" group="3"/>
<default class="force-torque">
<site type="box" size=".01 .01 .02" rgba="1 0 0 1" />
</default>
<default class="touch">
<site type="capsule" rgba="0 0 1 .3"/>
</default>
</default>
</default>

<worldbody>
<geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="grid"/>
<body name="pelvis" pos="0 0 1" childclass="body">
<freejoint name="root"/>
<site name="root" class="force-torque"/>
<geom name="pelvis" type="sphere" pos="0 0 0.07" size=".09" density="2226"/>
<geom name="upper_waist" type="sphere" pos="0 0 0.205" size="0.07" density="2226"/>
<site name="pelvis" class="touch" type="sphere" pos="0 0 0.07" size="0.091"/>
<site name="upper_waist" class="touch" type="sphere" pos="0 0 0.205" size="0.071"/>

<body name="torso" pos="0 0 0.236151">
<light name="top" pos="0 0 2" mode="trackcom"/>
<camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
<camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
<joint name="abdomen_x" pos="0 0 0" axis="1 0 0" range="-60 60" stiffness="600" damping="60" armature=".025"/>
<joint name="abdomen_y" pos="0 0 0" axis="0 1 0" range="-60 90" stiffness="600" damping="60" armature=".025"/>
<joint name="abdomen_z" pos="0 0 0" axis="0 0 1" range="-50 50" stiffness="600" damping="60" armature=".025"/>
<geom name="torso" type="sphere" pos="0 0 0.12" size="0.11" density="1794"/>
<site name="torso" class="touch" type="sphere" pos="0 0 0.12" size="0.111"/>

<geom name="right_clavicle" fromto="-0.0060125 -0.0457775 0.2287955 -0.016835 -0.128177 0.2376182" size=".045" density="1100"/>
<geom name="left_clavicle" fromto="-0.0060125 0.0457775 0.2287955 -0.016835 0.128177 0.2376182" size=".045" density="1100"/>

<body name="head" pos="0 0 0.223894">
<joint name="neck_x" axis="1 0 0" range="-50 50" stiffness="50" damping="5" armature=".017"/>
<joint name="neck_y" axis="0 1 0" range="-40 60" stiffness="50" damping="5" armature=".017"/>
<joint name="neck_z" axis="0 0 1" range="-45 45" stiffness="50" damping="5" armature=".017"/>
<geom name="head" type="sphere" pos="0 0 0.175" size="0.095" density="1081"/>
<site name="head" class="touch" pos="0 0 0.175" type="sphere" size="0.103"/>
<camera name="egocentric" pos=".103 0 0.175" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
</body>

<body name="right_upper_arm" pos="-0.02405 -0.18311 0.24350">
<joint name="right_shoulder_x" axis="1 0 0" range="-180 45" stiffness="200" damping="20" armature=".02"/>
<joint name="right_shoulder_y" axis="0 1 0" range="-180 60" stiffness="200" damping="20" armature=".02"/>
<joint name="right_shoulder_z" axis="0 0 1" range="-90 90" stiffness="200" damping="20" armature=".02"/>
<geom name="right_upper_arm" fromto="0 0 -0.05 0 0 -0.23" size=".045" density="982"/>
<site name="right_upper_arm" class="touch" pos="0 0 -0.14" size="0.046 0.1" zaxis="0 0 1"/>

<body name="right_lower_arm" pos="0 0 -0.274788">
<joint name="right_elbow" axis="0 1 0" range="-160 0" stiffness="150" damping="15" armature=".015"/>
<geom name="right_lower_arm" fromto="0 0 -0.0525 0 0 -0.1875" size="0.04" density="1056"/>
<site name="right_lower_arm" class="touch" pos="0 0 -0.12" size="0.041 0.0685" zaxis="0 1 0"/>

<body name="right_hand" pos="0 0 -0.258947">
<joint name="right_hand_x" axis="1 0 0" range="-90 90" stiffness="100" damping="10" armature=".01"/>
<joint name="right_hand_y" axis="0 1 0" range="-90 90" stiffness="100" damping="10" armature=".003"/>
<joint name="right_hand_z" axis="0 0 1" range="-90 90" stiffness="100" damping="10" armature=".003"/>
<geom name="right_hand" type="sphere" size=".04" density="1865"/>
<site name="right_hand" class="touch" type="sphere" size=".041"/>
</body>
</body>
</body>

<body name="left_upper_arm" pos="-0.02405 0.18311 0.24350">
<joint name="left_shoulder_x" axis="1 0 0" range="-45 180" stiffness="200" damping="20" armature=".02"/>
<joint name="left_shoulder_y" axis="0 1 0" range="-180 60" stiffness="200" damping="20" armature=".02"/>
<joint name="left_shoulder_z" axis="0 0 1" range="-90 90" stiffness="200" damping="20" armature=".02"/>
<geom name="left_upper_arm" fromto="0 0 -0.05 0 0 -0.23" size="0.045" density="982"/>
<site name="left_upper_arm" class="touch" pos="0 0 -0.14" size="0.046 0.1" zaxis="0 0 1"/>

<body name="left_lower_arm" pos="0 0 -0.274788">
<joint name="left_elbow" axis="0 1 0" range="-160 0" stiffness="150" damping="15" armature=".015"/>
<geom name="left_lower_arm" fromto="0 0 -0.0525 0 0 -0.1875" size="0.04" density="1056"/>
<site name="left_lower_arm" class="touch" pos="0 0 -0.1" size="0.041 0.0685" zaxis="0 0 1"/>

<body name="left_hand" pos="0 0 -0.258947">
<joint name="left_hand_x" axis="1 0 0" range="-90 90" stiffness="100" damping="10" armature=".01"/>
<joint name="left_hand_y" axis="0 1 0" range="-90 90" stiffness="100" damping="10" armature=".003"/>
<joint name="left_hand_z" axis="0 0 1" range="-90 90" stiffness="100" damping="10" armature=".003"/>
<geom name="left_hand" type="sphere" size=".04" density="1865"/>
<site name="left_hand" class="touch" type="sphere" size=".041"/>
</body>
</body>
</body>
</body>

<body name="right_thigh" pos="0 -0.084887 0">
<site name="right_hip" class="force-torque"/>
<joint name="right_hip_x" axis="1 0 0" range="-60 15" stiffness="300" damping="30" armature=".02"/>
<joint name="right_hip_y" axis="0 1 0" range="-140 60" stiffness="300" damping="30" armature=".02"/>
<joint name="right_hip_z" axis="0 0 1" range="-60 35" stiffness="300" damping="30" armature=".02"/>
<geom name="right_thigh" fromto="0 0 -0.06 0 0 -0.36" size="0.055" density="1269"/>
<site name="right_thigh" class="touch" pos="0 0 -0.21" size="0.056 0.301" zaxis="0 0 -1"/>

<body name="right_shin" pos="0 0 -0.421546">
<site name="right_knee" class="force-torque" pos="0 0 0"/>
<joint name="right_knee" pos="0 0 0" axis="0 1 0" range="0 160" stiffness="300" damping="30" armature=".02"/>
<geom name="right_shin" fromto="0 0 -0.045 0 0 -0.355" size=".05" density="1014"/>
<site name="right_shin" class="touch" pos="0 0 -0.2" size="0.051 0.156" zaxis="0 0 -1"/>

<body name="right_foot" pos="0 0 -0.409870">
<site name="right_ankle" class="force-torque"/>
<joint name="right_ankle_x" pos="0 0 0" axis="1 0 0" range="-30 30" stiffness="200" damping="20" armature=".01"/>
<joint name="right_ankle_y" pos="0 0 0" axis="0 1 0" range="-55 55" stiffness="200" damping="20" armature=".01"/>
<joint name="right_ankle_z" pos="0 0 0" axis="0 0 1" range="-40 40" stiffness="200" damping="20" armature=".01"/>
<geom name="right_foot" type="box" pos="0.045 0 -0.0225" size="0.0885 0.045 0.0275" density="1141"/>
<site name="right_foot" class="touch" type="box" pos="0.045 0 -0.0225" size="0.0895 0.055 0.0285"/>
</body>
</body>
</body>

<body name="left_thigh" pos="0 0.084887 0">
<site name="left_hip" class="force-torque"/>
<joint name="left_hip_x" axis="1 0 0" range="-15 60" stiffness="300" damping="30" armature=".02"/>
<joint name="left_hip_y" axis="0 1 0" range="-140 60" stiffness="300" damping="30" armature=".02"/>
<joint name="left_hip_z" axis="0 0 1" range="-35 60" stiffness="300" damping="30" armature=".02"/>
<geom name="left_thigh" fromto="0 0 -0.06 0 0 -0.36" size=".055" density="1269"/>
<site name="left_thigh" class="touch" pos="0 0 -0.21" size="0.056 0.301" zaxis="0 0 -1"/>

<body name="left_shin" pos="0 0 -0.421546">
<site name="left_knee" class="force-torque" pos="0 0 .02"/>
<joint name="left_knee" pos="0 0 0" axis="0 1 0" range="0 160" stiffness="300" damping="30" armature=".02"/>
<geom name="left_shin" fromto="0 0 -0.045 0 0 -0.355" size=".05" density="1014"/>
<site name="left_shin" class="touch" pos="0 0 -0.2" size="0.051 0.156" zaxis="0 0 -1"/>

<body name="left_foot" pos="0 0 -0.409870">
<site name="left_ankle" class="force-torque"/>
<joint name="left_ankle_x" pos="0 0 0" axis="1 0 0" range="-30 30" stiffness="200" damping="20" armature=".01"/>
<joint name="left_ankle_y" pos="0 0 0" axis="0 1 0" range="-55 55" stiffness="200" damping="20" armature=".01"/>
<joint name="left_ankle_z" pos="0 0 0" axis="0 0 1" range="-40 40" stiffness="200" damping="20" armature=".01"/>
<geom name="left_foot" type="box" pos="0.045 0 -0.0225" size="0.0885 0.045 0.0275" density="1141"/>
<site name="left_foot" class="touch" type="box" pos="0.045 0 -0.0225" size="0.0895 0.055 0.0285"/>
</body>
</body>
</body>
</body>
</worldbody>

<actuator>
<motor name='abdomen_x' gear='125' joint='abdomen_x'/>
<motor name='abdomen_y' gear='125' joint='abdomen_y'/>
<motor name='abdomen_z' gear='125' joint='abdomen_z'/>
<motor name='neck_x' gear='20' joint='neck_x'/>
<motor name='neck_y' gear='20' joint='neck_y'/>
<motor name='neck_z' gear='20' joint='neck_z'/>
<motor name='right_shoulder_x' gear='70' joint='right_shoulder_x'/>
<motor name='right_shoulder_y' gear='70' joint='right_shoulder_y'/>
<motor name='right_shoulder_z' gear='70' joint='right_shoulder_z'/>
<motor name='right_elbow' gear='60' joint='right_elbow'/>
<motor name='left_shoulder_x' gear='70' joint='left_shoulder_x'/>
<motor name='left_shoulder_y' gear='70' joint='left_shoulder_y'/>
<motor name='left_shoulder_z' gear='70' joint='left_shoulder_z'/>
<motor name='left_elbow' gear='60' joint='left_elbow'/>
<motor name='right_hip_x' gear='125' joint='right_hip_x'/>
<motor name='right_hip_z' gear='125' joint='right_hip_z'/>
<motor name='right_hip_y' gear='125' joint='right_hip_y'/>
<motor name='right_knee' gear='100' joint='right_knee'/>
<motor name='right_ankle_x' gear='50' joint='right_ankle_x'/>
<motor name='right_ankle_y' gear='50' joint='right_ankle_y'/>
<motor name='right_ankle_z' gear='50' joint='right_ankle_z'/>
<motor name='left_hip_x' gear='125' joint='left_hip_x'/>
<motor name='left_hip_z' gear='125' joint='left_hip_z'/>
<motor name='left_hip_y' gear='125' joint='left_hip_y'/>
<motor name='left_knee' gear='100' joint='left_knee'/>
<motor name='left_ankle_x' gear='50' joint='left_ankle_x'/>
<motor name='left_ankle_y' gear='50' joint='left_ankle_y'/>
<motor name='left_ankle_z' gear='50' joint='left_ankle_z'/>
</actuator>

<sensor>
<subtreelinvel name="pelvis_subtreelinvel" body="pelvis"/>
<accelerometer name="root_accel" site="root"/>
<velocimeter name="root_vel" site="root"/>
<gyro name="root_gyro" site="root"/>

<force name="left_ankle_force" site="left_ankle"/>
<force name="right_ankle_force" site="right_ankle"/>
<force name="left_knee_force" site="left_knee"/>
<force name="right_knee_force" site="right_knee"/>
<force name="left_hip_force" site="left_hip"/>
<force name="right_hip_force" site="right_hip"/>

<torque name="left_ankle_torque" site="left_ankle"/>
<torque name="right_ankle_torque" site="right_ankle"/>
<torque name="left_knee_torque" site="left_knee"/>
<torque name="right_knee_torque" site="right_knee"/>
<torque name="left_hip_torque" site="left_hip"/>
<torque name="right_hip_torque" site="right_hip"/>

<touch name="pelvis_touch" site="pelvis"/>
<touch name="upper_waist_touch" site="upper_waist"/>
<touch name="torso_touch" site="torso"/>
<touch name="head_touch" site="head"/>
<touch name="right_upper_arm_touch" site="right_upper_arm"/>
<touch name="right_lower_arm_touch" site="right_lower_arm"/>
<touch name="right_hand_touch" site="right_hand"/>
<touch name="left_upper_arm_touch" site="left_upper_arm"/>
<touch name="left_lower_arm_touch" site="left_lower_arm"/>
<touch name="left_hand_touch" site="left_hand"/>
<touch name="right_thigh_touch" site="right_thigh"/>
<touch name="right_shin_touch" site="right_shin"/>
<touch name="right_foot_touch" site="right_foot"/>
<touch name="left_thigh_touch" site="left_thigh"/>
<touch name="left_shin_touch" site="left_shin"/>
<touch name="left_foot_touch" site="left_foot"/>
</sensor>

</mujoco>

0 comments on commit a32be5a

Please sign in to comment.