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Check in MJX version of Barkour vB quadruped.
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Also fixes naming of bodies (for the feet) and the home keyframe.

PiperOrigin-RevId: 588287366
Change-Id: I12d20695c4097a6aaa01389bba2f53924d89924f
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@copybara-github
DeepMind authored and copybara-github committed Dec 6, 2023
1 parent a5836a9 commit 3d025d8
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10 changes: 9 additions & 1 deletion google_barkour_vb/README.md
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Expand Up @@ -12,7 +12,15 @@ This package contains a simplified robot description (MJCF) of the Barkour vB Qu

## MJCF and URDF

The source of truth for the Barkour v0 Quadruped can be found in `barkour_vb.xml`. The URDF in `barkour_vb_rev_1_0_head_straight.urdf` is provided for convenience.
The source of truth for the Barkour vB Quadruped can be found in `barkour_vb.xml`. The URDF in `barkour_vb_rev_1_0_head_straight.urdf` is provided for convenience.

### MJX

A version of the Barkour vB for use in [MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) is available in `scene_mjx.xml` with the following changes:

* The solver `iterations` and `ls_iterations` are modified for performance.
* The `eulerdamp` flag is disabled.
* Collision geometries are only enabled between the feet and the plane.

## License

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257 changes: 257 additions & 0 deletions google_barkour_vb/barkour_vb_mjx.xml
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<mujoco model="barkour_vb">
<compiler angle="radian" autolimits="true"/>

<option iterations="1" ls_iterations="5">
<flag eulerdamp="disable"/>
</option>

<default>
<geom contype="0" conaffinity="0" type="mesh"/>
<default class="bkvb">
<geom type="mesh"/>
<default class="bkvb/collision">
<geom group="3" contype="0" conaffinity="1"/>
<default class="bkvb/collision/foot">
<geom type="sphere" size="0.0175" pos="-0.21425 -0.0779806 0" rgba="1 0 0 1"/>
</default>
</default>

<!-- hide sites by default -->
<site group="5"/>
<default class="bkvb/vicon">
<!-- show vicon markers with a small sphere -->
<site group="0"/>
</default>

<joint damping="0.024" frictionloss="0.13" armature="0.011"/>
<general forcerange="-18 18" biastype="affine" gainprm="50 0 0" biasprm="0 -50 -0.5"/>
<default class="bkvb/abduction">
<joint range="-1.0472 1.0472"/>
<general ctrlrange="-0.9472 0.9472"/>
<geom rgba="0.980392 0.713726 0.00392157 1" mesh="abduction"/>
</default>
<default class="bkvb/hip">
<joint range="-1.54706 3.02902"/>
<general ctrlrange="-1.44706 2.92902"/>
</default>
<default class="bkvb/knee">
<joint range="0 2.44346"/>
<general ctrlrange="0.1 2.34346"/>
</default>
<default class="bkvb/foot">
<site pos="-0.21425 -0.0779806 0" quat="0.664463 0.664463 -0.241845 -0.241845"/>
<geom rgba="0.231373 0.380392 0.705882 1" mesh="foot"/>
</default>
<default class="bkvb/lower_leg">
<geom rgba="0.615686 0.811765 0.929412 1" mesh="lower_leg"/>
</default>
<default class="bkvb/upper_leg">
<geom rgba="0.615686 0.811765 0.929412 1" mesh="upper_leg"/>
</default>
<default class="bkvb/upper_leg_left">
<geom rgba="0.972549 0.529412 0.00392157 1" mesh="upper_leg_left"/>
</default>
<default class="bkvb/upper_leg_right">
<geom rgba="0.513726 0.737255 0.407843 1" mesh="upper_leg_right"/>
</default>
<default class="bkvb/torso">
<geom rgba="0.8 0.74902 0.913725 1"/>
</default>
</default>
</default>

<asset>
<mesh name="camera_cover" file="assets/camera_cover.stl"/>
<mesh name="neck" file="assets/neck.stl"/>
<mesh name="intel_realsense_depth_camera_d435" file="assets/intel_realsense_depth_camera_d435.stl"/>
<mesh name="handle" file="assets/handle.stl"/>
<mesh name="torso" file="assets/torso.stl"/>
<mesh name="abduction" file="assets/abduction.stl"/>
<mesh name="upper_leg" file="assets/upper_leg.stl"/>
<mesh name="upper_leg_left" file="assets/upper_leg_left.stl"/>
<mesh name="upper_leg_right" file="assets/upper_leg_right.stl"/>
<mesh name="lower_leg" file="assets/lower_leg.stl"/>
<mesh name="foot" file="assets/foot.stl"/>
</asset>

<worldbody>
<body name="torso" childclass="bkvb">
<freejoint name="torso"/>
<camera name="track" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940" mode="trackcom"/>
<inertial pos="0.0055238 -0.000354563 0.00835899" quat="-0.00150849 0.694899 -0.000198355 0.719106" mass="6.04352"
diaginertia="0.144664 0.12027 0.0511405"/>
<geom class="bkvb/torso" pos="-7.85127e-05 -0.000500734 0" mesh="neck"/>
<geom class="bkvb/torso" pos="-7.85127e-05 -0.000500734 0" mesh="camera_cover"/>
<geom class="bkvb/torso" pos="-7.85127e-05 -0.000500734 0" mesh="handle"/>
<geom class="bkvb/torso" pos="0.319921 -0.000500734 0.0651248" quat="1 0 0 1"
mesh="intel_realsense_depth_camera_d435"/>
<geom class="bkvb/torso" pos="-7.85127e-05 -0.000500734 0" mesh="torso"/>
<site name="imu_frame" pos="0.010715 -0.00025 -0.06" quat="0 0 0 1"/>
<site name="base_frame"/>
<site name="vicon_frame"/>
<!-- dummy bodies for the cameras -->
<body pos="0.3176 0.017 0.065" quat="1 -1 1 -1">
<site name="head_camera_frame"/>
<camera name="realsense/depth" fovy="62" quat="0 1 0 0"/>
<site name="realsense/depth_frame" quat="0 1 0 0"/>
<camera name="realsense/rgb" fovy="42.5" pos="0 0.015 0" quat="0 1 0 0"/>
<site name="realsense/rgb_frame" pos="0 0.015 0" quat="0 1 0 0"/>
<site name="realsense/imu"/>
</body>
<body pos="0.08632 0 0.1213" quat="1 -1 1 -1" name="oak/">
<site name="handle_camera_frame"/>
<camera name="oak/rgb" pos="0 0 0.0125" quat="0 -1 -0 -0" resolution="96 60"
focalpixel="66.55567095 66.53559105" principalpixel="-1.1446674 -1.8664293" sensorsize="0.000288 0.00018"/>
</body>
<site name="vicon_0" class="bkvb/vicon" pos="-0.110864 -0.117663 0.061736"/>
<site name="vicon_1" class="bkvb/vicon" pos="-0.110864 0.116662 0.0617363"
quat="0.965087 -0.209027 0.154269 -0.0334129"/>
<site name="vicon_2" class="bkvb/vicon" pos="-0.0625744 0.11068 0.0458139" quat="0.900548 -0.434757 0 0"/>
<site name="vicon_3" class="bkvb/vicon" pos="0.0561715 0.100042 0.0527394" quat="0.98926 -0.146166 0 0"/>
<site name="vicon_4" class="bkvb/vicon" pos="0.0960704 0.129697 0.0389732"
quat="0.767626 -0.517423 -0.313596 0.211381"/>
<site name="vicon_5" class="bkvb/vicon" pos="-0.0962327 0.13163 -0.0388594"
quat="0.529619 -0.759572 0.215948 -0.309709"/>
<site name="vicon_6" class="bkvb/vicon" pos="-7.85127e-05 -0.0778626 0.070357" quat="0.94293 0.33299 0 0"/>
<site name="vicon_8" class="bkvb/vicon" pos="-0.0962274 -0.130699 0.0389732"
quat="0.767626 0.517423 0.313596 0.211381"/>
<site name="vicon_9" class="bkvb/vicon" pos="0.0561715 -0.101043 0.0527394" quat="0.98926 0.146166 0 0"/>
<body name="leg_front_left" pos="0.171671 0.0892493 -9.8e-06" quat="1 -1 -1 1">
<inertial pos="0.00547726 -0.000288034 -0.0602191" quat="0.999837 0.0103892 -0.0143715 -0.00325656" mass="0.787"
diaginertia="0.00143831 0.00117023 0.00100011"/>
<joint name="abduction_front_left" class="bkvb/abduction"/>
<geom class="bkvb/abduction" pos="0 0.000111373 0.0029" quat="1 1 0 0"/>
<body name="upper_leg_front_left" pos="0.03085 0 -0.065" quat="0 -1 0 1">
<inertial pos="-0.0241397 0.00402429 -0.0453038" quat="0.0673193 0.647966 -0.00518142 0.75867" mass="1.155"
diaginertia="0.00562022 0.00519471 0.0012633"/>
<joint name="hip_front_left" class="bkvb/hip"/>
<geom class="bkvb/upper_leg" pos="0.0679 0.000111373 0.03085" quat="1 1 1 -1"/>
<geom class="bkvb/upper_leg_left" pos="0 0 -0.05075" quat="0 0 1 0"/>
<body name="lower_leg_front_left" pos="-0.19 0 -0.069575" quat="0 0 1 0">
<inertial pos="-0.0895493 -0.0301957 -3.02082e-08" quat="-0.101465 0.699789 0.101465 0.699789"
mass="0.171238" diaginertia="0.00137406 0.00135746 3.05521e-05"/>
<joint name="knee_front_left" class="bkvb/knee"/>
<geom class="bkvb/foot" pos="-0.0649838 0.178542 0" quat="0.819152 0 0 -0.573576"/>
<geom class="bkvb/lower_leg" pos="-0.0649838 0.178542 0" quat="0.819152 0 0 -0.573576"/>
<geom class="bkvb/collision/foot"/>
<site name="foot_front_left" class="bkvb/foot"/>
</body>
</body>
</body>
<body name="leg_hind_left" pos="-0.171829 0.0892493 -9.8e-06" quat="1 -1 -1 1">
<inertial pos="0.00547726 0.000288034 0.0602191" quat="0.999837 0.0103892 0.0143715 0.00325656" mass="0.787"
diaginertia="0.00143831 0.00117023 0.00100011"/>
<joint name="abduction_hind_left" class="bkvb/abduction"/>
<geom class="bkvb/abduction" pos="0 -0.000111373 -0.0029" quat="1 -1 0 0"/>
<body name="upper_leg_hind_left" pos="0.03085 0 0.065" quat="0 1 0 -1">
<inertial pos="-0.0241397 0.00402429 -0.0453038" quat="0.0673193 0.647966 -0.00518142 0.75867" mass="1.155"
diaginertia="0.00562022 0.00519471 0.0012633"/>
<joint name="hip_hind_left" class="bkvb/hip"/>
<geom class="bkvb/upper_leg" pos="0.0679 0.000111373 0.03085" quat="1 1 1 -1"/>
<geom class="bkvb/upper_leg_left" pos="0 0 -0.05075" quat="0 0 1 0"/>
<body name="lower_leg_hind_left" pos="-0.19 0 -0.069925" quat="0 0 1 0">
<inertial pos="-0.0895493 -0.0301957 -3.02082e-08" quat="-0.101465 0.699789 0.101465 0.699789"
mass="0.171238" diaginertia="0.00137406 0.00135746 3.05521e-05"/>
<joint name="knee_hind_left" class="bkvb/knee"/>
<geom class="bkvb/lower_leg" pos="-0.0649838 0.178542 0" quat="0.819152 0 0 -0.573576"/>
<geom class="bkvb/foot" pos="-0.0649838 0.178542 0" quat="0.819152 0 0 -0.573576"/>
<geom class="bkvb/collision/foot"/>
<site name="foot_hind_left" class="bkvb/foot"/>
</body>
</body>
</body>
<body name="leg_front_right" pos="0.171671 -0.0907507 -9.8e-06" quat="1 -1 1 -1">
<inertial pos="0.00547726 0.000288034 0.0602191" quat="0.999837 0.0103892 0.0143715 0.00325656" mass="0.787"
diaginertia="0.00143831 0.00117023 0.00100011"/>
<joint name="abduction_front_right" class="bkvb/abduction"/>
<geom class="bkvb/abduction" pos="0 -0.000111373 -0.0029" quat="1 -1 0 0"/>
<body name="upper_leg_front_right" pos="0.03085 0 0.065" quat="0 -1 0 -1">
<inertial pos="-0.0241393 0.00324567 0.0453036" quat="-0.00604983 0.756969 -0.0854547 0.64781" mass="1.155"
diaginertia="0.00563107 0.00519539 0.00126472"/>
<joint name="hip_front_right" class="bkvb/hip"/>
<geom class="bkvb/upper_leg" pos="0.0679 -0.000111373 -0.03085" quat="1 -1 -1 -1"/>
<geom class="bkvb/upper_leg_right" pos="0 0 0.05075" quat="0 0 -1 0"/>
<body name="lower_leg_front_right" pos="-0.19 0 0.069575" quat="0 0 -1 0">
<inertial pos="-0.0895493 -0.0301957 -3.02082e-08" quat="-0.101465 0.699789 0.101465 0.699789"
mass="0.171238" diaginertia="0.00137406 0.00135746 3.05521e-05"/>
<joint name="knee_front_right" class="bkvb/knee"/>
<geom class="bkvb/foot" pos="-0.0649838 0.178542 0" quat="0.819152 0 0 -0.573576"/>
<geom class="bkvb/lower_leg" pos="-0.0649838 0.178542 0" quat="0.819152 0 0 -0.573576"/>
<geom class="bkvb/collision/foot"/>
<site name="foot_front_right" class="bkvb/foot"/>
</body>
</body>
</body>
<body name="leg_hind_right" pos="-0.171829 -0.0907507 -9.8e-06" quat="1 -1 1 -1">
<inertial pos="0.00547726 -0.000288034 -0.0600191" quat="0.999837 0.0103892 -0.0143715 -0.00325656" mass="0.787"
diaginertia="0.00143831 0.00117023 0.00100011"/>
<joint name="abduction_hind_right" class="bkvb/abduction"/>
<geom class="bkvb/abduction" pos="0 0.000111373 0.0031" quat="1 1 0 0"/>
<body name="upper_leg_hind_right" pos="0.03085 0 -0.0648" quat="0 1 0 1">
<inertial pos="-0.0241393 0.00324567 0.0453036" quat="-0.00604983 0.756969 -0.0854547 0.64781" mass="1.155"
diaginertia="0.00563107 0.00519539 0.00126472"/>
<joint name="hip_hind_right" class="bkvb/hip"/>
<geom class="bkvb/upper_leg" pos="0.0679 -0.000111373 -0.03085" quat="1 -1 -1 -1"/>
<geom class="bkvb/upper_leg_right" pos="0 0 0.05075" quat="0 0 -1 0"/>
<body name="lower_leg_hind_right" pos="-0.19 0 0.069575" quat="0 0 -1 0">
<inertial pos="-0.0895493 -0.0301957 -3.02082e-08" quat="-0.101465 0.699789 0.101465 0.699789"
mass="0.171238" diaginertia="0.00137406 0.00135746 3.05521e-05"/>
<joint name="knee_hind_right" class="bkvb/knee"/>
<geom class="bkvb/lower_leg" pos="-0.0649838 0.178542 0" quat="0.819152 0 0 -0.573576"/>
<geom class="bkvb/foot" pos="-0.0649838 0.178542 0" quat="0.819152 0 0 -0.573576"/>
<geom class="bkvb/collision/foot"/>
<site name="foot_hind_right" class="bkvb/foot"/>
</body>
</body>
</body>
</body>
</worldbody>

<actuator>
<general name="abduction_front_left" class="bkvb/abduction" joint="abduction_front_left"/>
<general name="hip_front_left" class="bkvb/hip" joint="hip_front_left"/>
<general name="knee_front_left" class="bkvb/knee" joint="knee_front_left"/>
<general name="abduction_hind_left" class="bkvb/abduction" joint="abduction_hind_left"/>
<general name="hip_hind_left" class="bkvb/hip" joint="hip_hind_left"/>
<general name="knee_hind_left" class="bkvb/knee" joint="knee_hind_left"/>
<general name="abduction_front_right" class="bkvb/abduction" joint="abduction_front_right"/>
<general name="hip_front_right" class="bkvb/hip" joint="hip_front_right"/>
<general name="knee_front_right" class="bkvb/knee" joint="knee_front_right"/>
<general name="abduction_hind_right" class="bkvb/abduction" joint="abduction_hind_right"/>
<general name="hip_hind_right" class="bkvb/hip" joint="hip_hind_right"/>
<general name="knee_hind_right" class="bkvb/knee" joint="knee_hind_right"/>
</actuator>

<sensor>
<jointpos joint="abduction_front_left" name="abduction_front_left_pos"/>
<jointpos joint="hip_front_left" name="hip_front_left_pos"/>
<jointpos joint="knee_front_left" name="knee_front_left_pos"/>
<jointpos joint="abduction_hind_left" name="abduction_hind_left_pos"/>
<jointpos joint="hip_hind_left" name="hip_hind_left_pos"/>
<jointpos joint="knee_hind_left" name="knee_hind_left_pos"/>
<jointpos joint="abduction_front_right" name="abduction_front_right_pos"/>
<jointpos joint="hip_front_right" name="hip_front_right_pos"/>
<jointpos joint="knee_front_right" name="knee_front_right_pos"/>
<jointpos joint="abduction_hind_right" name="abduction_hind_right_pos"/>
<jointpos joint="hip_hind_right" name="hip_hind_right_pos"/>
<jointpos joint="knee_hind_right" name="knee_hind_right_pos"/>
<jointvel joint="abduction_front_left" name="abduction_front_left_vel"/>
<jointvel joint="hip_front_left" name="hip_front_left_vel"/>
<jointvel joint="knee_front_left" name="knee_front_left_vel"/>
<jointvel joint="abduction_hind_left" name="abduction_hind_left_vel"/>
<jointvel joint="hip_hind_left" name="hip_hind_left_vel"/>
<jointvel joint="knee_hind_left" name="knee_hind_left_vel"/>
<jointvel joint="abduction_front_right" name="abduction_front_right_vel"/>
<jointvel joint="hip_front_right" name="hip_front_right_vel"/>
<jointvel joint="knee_front_right" name="knee_front_right_vel"/>
<jointvel joint="abduction_hind_right" name="abduction_hind_right_vel"/>
<jointvel joint="hip_hind_right" name="hip_hind_right_vel"/>
<jointvel joint="knee_hind_right" name="knee_hind_right_vel"/>
<gyro site="imu_frame" name="gyro"/>
<accelerometer site="imu_frame" name="accelerometer"/>
<framequat objtype="site" objname="imu_frame" name="orientation"/>
<framepos objtype="site" objname="imu_frame" name="global_position"/>
<framelinvel objtype="site" objname="imu_frame" name="global_linvel"/>
<frameangvel objtype="site" objname="imu_frame" name="global_angvel"/>
</sensor>
</mujoco>
2 changes: 1 addition & 1 deletion google_barkour_vb/scene.xml
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Expand Up @@ -26,7 +26,7 @@

<keyframe>
<key name="home"
qpos="0 0 0.252
qpos="0 0 0.28
1 0 0 0
0.0 0.5 1.0
0.0 0.5 1.0
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38 changes: 38 additions & 0 deletions google_barkour_vb/scene_mjx.xml
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<mujoco model="barkour vB scene">
<include file="barkour_vb_mjx.xml"/>

<statistic center="0 0 0.1" extent="0.8"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>

<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<camera name="default" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>

<keyframe>
<key name="home"
qpos="0 0 0.28
1 0 0 0
0.0 0.5 1.0
0.0 0.5 1.0
0.0 0.5 1.0
0.0 0.5 1.0"
ctrl="0.0 0.5 1.0
0.0 0.5 1.0
0.0 0.5 1.0
0.0 0.5 1.0"/>
</keyframe>
</mujoco>

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