google-deepmind · kevinzakka · Dec 6, 2024
diff --git a/berkeley_humanoid/LICENSE b/berkeley_humanoid/LICENSE
@@ -0,0 +1,27 @@
+Copyright (c) 2024 Hybrid 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.
diff --git a/berkeley_humanoid/README.md b/berkeley_humanoid/README.md
@@ -0,0 +1,40 @@
+# Berkeley Humanoid Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.4 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Berkeley
+Humanoid](https://berkeley-humanoid.com/) developed by the [Hybrid Robotics
+Lab](https://hybrid-robotics.berkeley.edu/) at UC Berkeley. It is derived from the [publicly available URDF description](https://github.com/HybridRobotics/berkeley_humanoid_description).
+
+<p float="left">
+  <img src="berkeley_humanoid.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Manually edited the MJCF to extract common properties into the `<default>` section.
+2. Added a spotlight and tracking light.
+3. Added a site for the IMU.
+4. Added a camera for tracking.
+5. Extracted joint and actuator properties from the [IsaacLab training code](https://github.com/HybridRobotics/isaac_berkeley_humanoid).
+6. 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).
+
+## Publications
+
+The Berkeley Humanoid is described in the following publication:
+
+```bibtex
+@misc{2407.21781,
+    Author = {Qiayuan Liao and Bike Zhang and Xuanyu Huang and Xiaoyu Huang and Zhongyu Li and Koushil Sreenath},
+    Title = {Berkeley Humanoid: A Research Platform for Learning-based Control},
+    Year = {2024},
+    Eprint = {arXiv:2407.21781},
+}
+```
diff --git a/berkeley_humanoid/assets/ll_faa.stl b/berkeley_humanoid/assets/ll_faa.stl
diff --git a/berkeley_humanoid/assets/ll_ffe.stl b/berkeley_humanoid/assets/ll_ffe.stl
diff --git a/berkeley_humanoid/assets/ll_haa.stl b/berkeley_humanoid/assets/ll_haa.stl
diff --git a/berkeley_humanoid/assets/ll_hfe.stl b/berkeley_humanoid/assets/ll_hfe.stl
diff --git a/berkeley_humanoid/assets/ll_hr.stl b/berkeley_humanoid/assets/ll_hr.stl
diff --git a/berkeley_humanoid/assets/ll_kfe.stl b/berkeley_humanoid/assets/ll_kfe.stl
diff --git a/berkeley_humanoid/assets/lr_faa.stl b/berkeley_humanoid/assets/lr_faa.stl
diff --git a/berkeley_humanoid/assets/lr_ffe.stl b/berkeley_humanoid/assets/lr_ffe.stl
diff --git a/berkeley_humanoid/assets/lr_haa.stl b/berkeley_humanoid/assets/lr_haa.stl
diff --git a/berkeley_humanoid/assets/lr_hfe.stl b/berkeley_humanoid/assets/lr_hfe.stl
diff --git a/berkeley_humanoid/assets/lr_hr.stl b/berkeley_humanoid/assets/lr_hr.stl
diff --git a/berkeley_humanoid/assets/lr_kfe.stl b/berkeley_humanoid/assets/lr_kfe.stl
diff --git a/berkeley_humanoid/assets/torso.stl b/berkeley_humanoid/assets/torso.stl
diff --git a/berkeley_humanoid/berkeley_humanoid.png b/berkeley_humanoid/berkeley_humanoid.png
diff --git a/berkeley_humanoid/berkeley_humanoid.xml b/berkeley_humanoid/berkeley_humanoid.xml
@@ -0,0 +1,212 @@
+<mujoco model="berkeley_humanoid">
+  <compiler angle="radian" meshdir="assets"/>
+
+  <default>
+    <default class="berkeley_humanoid">
+      <joint axis="0 0 1"/>
+      <position inheritrange="1"/>
+      <default class="hxx">
+        <joint armature="0.0056" frictionloss="0.3" actuatorfrcrange="-20 20" range="-0.610865 0.610865"/>
+        <position kp="10" kv="1.5"/>
+      </default>
+      <default class="hfe">
+        <joint armature="0.007614" frictionloss="0.3" actuatorfrcrange="-30 30" range="-1.74533 0.523599"/>
+        <position kp="15" kv="1.5"/>
+      </default>
+      <default class="kfe">
+        <joint armature="0.0056" frictionloss="1.0" actuatorfrcrange="-30 30" range="0 2.0944"/>
+        <position kp="1" kv=".1"/>
+      </default>
+      <default class="ffe">
+        <joint armature="0.0056" frictionloss="1.0" actuatorfrcrange="-20 20" range="-0.523599 0.698132"/>
+        <position kp="1" kv=".1"/>
+      </default>
+      <default class="faa">
+        <joint armature="0.0004941" frictionloss=".1" actuatorfrcrange="-5 5" range="-0.523599 0.523599"/>
+        <position kp="1" kv=".1"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="metal"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+        <default class="foot1">
+          <geom friction="0.8 0.02 0.01" size="0.08 0.0275 0.006" pos="0 -0.0429038 0.0133277" type="box"/>
+        </default>
+        <default class="foot2">
+          <geom size="0.027 0.0325" pos="0 9.61687e-05 0.0388277" type="cylinder"/>
+        </default>
+      </default>
+      <site size="0.01" rgba="1 0 0 1" group="4"/>
+    </default>
+  </default>
+
+  <asset>
+    <material name="metal" rgba=".3 .3 .3 1"/>
+
+    <mesh file="torso.stl"/>
+    <mesh file="ll_hr.stl"/>
+    <mesh file="ll_haa.stl"/>
+    <mesh file="ll_hfe.stl"/>
+    <mesh file="ll_kfe.stl"/>
+    <mesh file="ll_ffe.stl"/>
+    <mesh file="ll_faa.stl"/>
+    <mesh file="lr_hr.stl"/>
+    <mesh file="lr_haa.stl"/>
+    <mesh file="lr_hfe.stl"/>
+    <mesh file="lr_kfe.stl"/>
+    <mesh file="lr_ffe.stl"/>
+    <mesh file="lr_faa.stl"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="torso" pos="0 -1 2"/>
+    <body name="torso" childclass="berkeley_humanoid" pos="0 0 0.6">
+      <freejoint/>
+      <site name="imu"/>
+      <camera name="track" pos="1.210 -0.435 0.32" xyaxes="0.342 0.940 0.000 -0.321 0.117 0.940" mode="trackcom"/>
+      <inertial pos="0.0123294 -0.0023557 0.114047" quat="0.997324 0.0100377 0.00560983 -0.0721951" mass="5.37812"
+        diaginertia="0.0900564 0.0815619 0.0530251"/>
+      <geom class="visual" mesh="torso"/>
+      <geom class="collision" size="0.09 0.125 0.125" pos="0.02 0 0.12" type="box"/>
+      <body name="ll_hr" pos="0 0.07 0" quat="0.92388 0 0.382683 0">
+        <inertial pos="-0.00717501 0.000638 -0.0603296" quat="0.997785 0.00699266 0.066053 0.00374607" mass="0.797"
+          diaginertia="0.00165598 0.00124847 0.000774206"/>
+        <joint name="LL_HR" class="hxx"/>
+        <geom pos="0 -0.07 0" quat="0.92388 0 -0.382683 0" class="visual" mesh="ll_hr"/>
+        <body name="ll_haa" pos="0.0158 0 -0.065" quat="1 0 -1 0">
+          <inertial pos="0.000606614 -0.009735 -0.0611092" quat="0.702991 -0.06137 0.0554512 0.706373" mass="0.897"
+            diaginertia="0.0018904 0.0014613 0.000923049"/>
+          <joint name="LL_HAA" class="hxx"/>
+          <geom pos="0.065 -0.07 0.0158" quat="0.92388 0 0.382683 0" class="visual" mesh="ll_haa"/>
+          <geom class="collision" size="0.055 0.025" pos="6.77985e-05 -0.015 -0.0649318"
+            quat="0.653281 0.653281 0.270598 -0.270598" type="cylinder"/>
+          <body name="ll_hfe" pos="0 0.0158 -0.065" quat="0.653281 -0.653281 -0.270598 -0.270598">
+            <inertial pos="-0.0596998 -0.000999287 0.045473" quat="-0.00572221 0.744789 -0.0182535 0.667026"
+              mass="2.689" diaginertia="0.0191406 0.0181903 0.00583016"/>
+            <joint name="LL_HFE" class="hfe"/>
+            <geom pos="0.103096 -0.0111723 -0.0858" quat="0.5 0.5 0.5 0.5" class="visual" mesh="ll_hfe"/>
+            <geom class="collision" size="0.0615 0.045" pos="9.61687e-05 -2.87143e-07 0.0542" quat="0 -1 -1 0"
+              type="cylinder"/>
+            <geom class="collision" size="0.052 0.04" pos="-0.114904 -2.87143e-07 0.0592" quat="0 -1 -1 0"
+              type="cylinder"/>
+            <body name="ll_kfe" pos="-0.22 0 0.0742" quat="1 0 0 0">
+              <inertial pos="-0.0856948 -0.00928029 -0.002232" quat="-0.11773 0.702823 -0.0559586 0.69932" mass="0.35"
+                diaginertia="0.00161117 0.00159463 9.70556e-05"/>
+              <joint name="LL_KFE" class="kfe"/>
+              <geom pos="0.323096 -0.0111723 -0.16" quat="0.5 0.5 0.5 0.5" class="visual" mesh="ll_kfe"/>
+              <geom class="collision" size="0.015 0.02 0.08" pos="-0.0569038 -0.00117229 0" quat="0.5 0.5 0.5 0.5"
+                type="box"/>
+              <body name="ll_ffe" pos="-0.18 0 0">
+                <inertial pos="-0.00107817 0.0237707 6.8e-05" quat="0.553259 0.458091 -0.532546 0.447717"
+                  mass="0.0993228" diaginertia="8.20308e-05 7.84322e-05 9.34827e-06"/>
+                <joint name="LL_FFE" class="ffe"/>
+                <geom pos="0.503096 -0.0111723 -0.16" quat="0.5 0.5 0.5 0.5" class="visual" mesh="ll_ffe"/>
+                <body name="ll_faa" pos="0 0.0175 0" quat="0.5 -0.5 -0.5 -0.5">
+                  <inertial pos="-2.9e-05 -0.0163978 0.0153387" quat="0.985258 -0.171058 -0.00255986 0.000455342"
+                    mass="0.507" diaginertia="0.00109422 0.000978734 0.000375399"/>
+                  <joint name="LL_FAA" class="faa"/>
+                  <geom pos="-0.16 0.503096 -0.0286723" quat="0.5 -0.5 -0.5 -0.5" class="visual" mesh="ll_faa"/>
+                  <geom class="foot1" quat="0.45452 -0.541675 -0.541675 -0.45452"/>
+                  <geom class="foot2" quat="0 -1 -1 0"/>
+                  <site name="LL_FOOT" pos="0 -0.048689 0.014485" quat="-0.454519 0.541675 0.541675 0.454519"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="lr_hr" pos="0 -0.07 0" quat="0.92388 0 0.382683 0">
+        <inertial pos="-0.00717501 -0.000638 -0.0603296" quat="0.997804 -0.00433689 0.066057 0.0019766" mass="0.797"
+          diaginertia="0.00165632 0.00124845 0.000774613"/>
+        <joint name="LR_HR" class="hxx"/>
+        <geom pos="0 0.07 0" quat="0.92388 0 -0.382683 0" class="visual" mesh="lr_hr"/>
+        <body name="lr_haa" pos="0.0158 0 -0.065" quat="1 0 -1 0">
+          <inertial pos="0.000606614 0.009735 -0.0611092" quat="0.704792 0.0582267 -0.0597566 0.704491" mass="0.897"
+            diaginertia="0.00189204 0.00146613 0.000918492"/>
+          <joint name="LR_HAA" class="hxx"/>
+          <geom pos="0.065 0.07 0.0158" quat="0.92388 0 0.382683 0" class="visual" mesh="lr_haa"/>
+          <geom class="collision" size="0.055 0.025" pos="6.77985e-05 0.015 -0.0649318"
+            quat="0.653281 0.653281 0.270598 -0.270598" type="cylinder"/>
+          <body name="lr_hfe" pos="0 -0.0158 -0.065" quat="0.653281 -0.653281 -0.270598 -0.270598">
+            <inertial pos="-0.0596998 -0.000999287 -0.045473" quat="0.018407 0.667006 0.00579507 0.744802" mass="2.689"
+              diaginertia="0.0191386 0.0181883 0.00582996"/>
+            <joint name="LR_HFE" class="hfe"/>
+            <geom pos="0.103096 -0.0111723 0.0858" quat="0.5 0.5 0.5 0.5" class="visual" mesh="lr_hfe"/>
+            <geom class="collision" size="0.0615 0.045" pos="9.61687e-05 -2.87143e-07 -0.0542" quat="0 -1 -1 0"
+              type="cylinder"/>
+            <geom class="collision" size="0.052 0.04" pos="-0.114904 -2.87143e-07 -0.0592" quat="0 -1 -1 0"
+              type="cylinder"/>
+            <body name="lr_kfe" pos="-0.22 0 -0.0742" quat="1 0 0 0">
+              <inertial pos="-0.0856948 -0.00928029 0.002232" quat="0.055958 0.69932 0.11773 0.702823" mass="0.35"
+                diaginertia="0.00161117 0.00159463 9.70556e-05"/>
+              <joint name="LR_KFE" class="kfe"/>
+              <geom pos="0.323096 -0.0111723 0.16" quat="0.5 0.5 0.5 0.5" class="visual" mesh="lr_kfe"/>
+              <geom class="collision" size="0.015 0.02 0.08" pos="-0.0569038 -0.00117229 0" quat="0.5 0.5 0.5 0.5"
+                type="box"/>
+              <body name="lr_ffe" pos="-0.18 0 0" quat="1 0 0 0">
+                <inertial pos="-0.00107817 0.0237707 -6.8e-05" quat="0.532548 0.447721 -0.553256 0.45809"
+                  mass="0.0993223" diaginertia="8.20306e-05 7.84321e-05 9.34825e-06"/>
+                <joint name="LR_FFE" class="ffe"/>
+                <geom pos="0.503096 -0.0111723 0.16" quat="0.5 0.5 0.5 0.5" class="visual" mesh="lr_ffe"/>
+                <body name="lr_faa" pos="0 0.0175 0" quat="0.5 -0.5 -0.5 -0.5">
+                  <inertial pos="2.9e-05 -0.0163368 0.0153387" quat="0.985231 -0.171209 0.00251902 -0.000808065"
+                    mass="0.507" diaginertia="0.00109488 0.000978788 0.000376011"/>
+                  <joint name="LR_FAA" class="faa"/>
+                  <geom pos="0.16 0.503096 -0.0286723" quat="0.5 -0.5 -0.5 -0.5" class="visual" mesh="lr_faa"/>
+                  <geom class="foot1" quat="-0.45452 0.541675 0.541675 0.45452"/>
+                  <geom class="foot2" quat="0 1 1 0"/>
+                  <site name="LR_FOOT" pos="0 -0.048689 0.014485" quat="0.454519 -0.541675 -0.541675 -0.454519"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position class="hxx" name="LL_HR" joint="LL_HR"/>
+    <position class="hxx" name="LL_HAA" joint="LL_HAA"/>
+    <position class="hfe" name="LL_HFE" joint="LL_HFE"/>
+    <position class="kfe" name="LL_KFE" joint="LL_KFE"/>
+    <position class="ffe" name="LL_FFE" joint="LL_FFE"/>
+    <position class="faa" name="LL_FAA" joint="LL_FAA"/>
+
+    <position class="hxx" name="LR_HR" joint="LR_HR"/>
+    <position class="hxx" name="LR_HAA" joint="LR_HAA"/>
+    <position class="hfe" name="LR_HFE" joint="LR_HFE"/>
+    <position class="kfe" name="LR_KFE" joint="LR_KFE"/>
+    <position class="ffe" name="LR_FFE" joint="LR_FFE"/>
+    <position class="faa" name="LR_FAA" joint="LR_FAA"/>
+  </actuator>
+
+  <sensor>
+    <gyro site="imu" name="local_rpyrate"/>
+    <velocimeter site="imu" name="local_linvel"/>
+    <accelerometer site="imu" name="accelerometer"/>
+    <framepos objtype="site" objname="imu" name="position"/>
+    <framezaxis objtype="site" objname="imu" name="upvector"/>
+    <framexaxis objtype="site" objname="imu" name="forwardvector"/>
+    <framelinvel objtype="site" objname="imu" name="global_linvel"/>
+    <frameangvel objtype="site" objname="imu" name="global_angvel"/>
+    <framequat objtype="site" objname="imu" name="orientation"/>
+    <framelinvel objtype="site" objname="LL_FOOT" name="left_foot_global_linvel"/>
+    <framelinvel objtype="site" objname="LR_FOOT" name="right_foot_global_linvel"/>
+    <force site="LL_FOOT" name="left_foot_force"/>
+    <force site="LR_FOOT" name="right_foot_force"/>
+  </sensor>
+
+  <keyframe>
+    <key name="home"
+      qpos="
+    0 0 0.515
+    1 0 0 0
+    -0.071 0.103 -0.463 0.983 -0.350 0.126
+    0.071 -0.103 -0.463 0.983 -0.350 -0.126"
+      ctrl="
+    -0.071 0.103 -0.463 0.983 -0.350 0.126
+    0.071 -0.103 -0.463 0.983 -0.350 -0.126"/>
+  </keyframe>
+</mujoco>
diff --git a/berkeley_humanoid/scene.xml b/berkeley_humanoid/scene.xml
@@ -0,0 +1,24 @@
+<mujoco model="berkeley humanoid scene">
+  <include file="berkeley_humanoid.xml"/>
+
+  <statistic center="0 0 0.43" extent=".85" meansize="0.05"/>
+
+  <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="160" elevation="-10"/>
+    <quality shadowsize="8192"/>
+  </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"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>