google-deepmind · youwyu · Feb 13, 2025 · Feb 13, 2025 · Feb 13, 2025
diff --git a/clearpath_jackal/LICENSE b/clearpath_jackal/LICENSE
@@ -0,0 +1,21 @@
+Copyright 2021 Clearpath Robotics Inc.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+disclaimer.
+
+2. 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.
+
+3. 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/clearpath_jackal/README.md b/clearpath_jackal/README.md
@@ -0,0 +1,34 @@
+# ClearPath Jackal Description (MJCF)
+
+Requires MuJoCo 2.2.2 or later.
+
+## Overview
+
+This package contains a modified robot description (MJCF) of the ClearPath
+Jackal robot. Wheels are modeled with Capsule, additional RealSense and
+Velodyne sensors are added. The original URDF and assets were provided directly by
+[ClearPath Robotics](https://clearpathrobotics.com) under an
+[BSD-3-Clause License](LICENSE).
+
+<p float="left">
+  <img src="jackal.png" width="600px">
+</p>
+
+## License
+
+This model is released under an [BSD-3-Clause License](LICENSE).
+
+## Citation
+
+If you use this work in an academic context, please cite the following publication:
+
+```bibtex
+@inproceedings{
+    yu2024adaptive,
+    title={Adaptive Diffusion Terrain Generator for Autonomous Uneven Terrain Navigation},
+    author={Youwei Yu and Junhong Xu and Lantao Liu},
+    booktitle={8th Annual Conference on Robot Learning},
+    year={2024},
+    url={https://openreview.net/forum?id=xYleTh2QhS}
+}
+```
diff --git a/clearpath_jackal/assets/VLP16_base_1.stl b/clearpath_jackal/assets/VLP16_base_1.stl
diff --git a/clearpath_jackal/assets/VLP16_base_2.stl b/clearpath_jackal/assets/VLP16_base_2.stl
diff --git a/clearpath_jackal/assets/VLP16_scan.stl b/clearpath_jackal/assets/VLP16_scan.stl
diff --git a/clearpath_jackal/assets/d435.stl b/clearpath_jackal/assets/d435.stl
diff --git a/clearpath_jackal/assets/jackal-base.stl b/clearpath_jackal/assets/jackal-base.stl
diff --git a/clearpath_jackal/assets/jackal-fender.stl b/clearpath_jackal/assets/jackal-fender.stl
diff --git a/clearpath_jackal/assets/t265.stl b/clearpath_jackal/assets/t265.stl
diff --git a/clearpath_jackal/assets/velodyne_tower.stl b/clearpath_jackal/assets/velodyne_tower.stl
diff --git a/clearpath_jackal/jackal.png b/clearpath_jackal/jackal.png
diff --git a/clearpath_jackal/jackal.xml b/clearpath_jackal/jackal.xml
@@ -0,0 +1,86 @@
+<mujoco model="jackal">
+  <compiler angle="radian" autolimits="true"/>
+
+  <option integrator="Euler" timestep="0.005" iterations="5" ls_iterations="5">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <asset>
+    <mesh name="jackal-fender" file="assets/jackal-fender.stl"/>
+    <mesh name="d435" file="assets/d435.stl"/>
+    <mesh name="t265" file="assets/t265.stl"/>
+    <mesh name="VLP16-base-1" file="assets/VLP16_base_1.stl"/>
+    <mesh name="VLP16-base-2" file="assets/VLP16_base_2.stl"/>
+    <mesh name="VLP16-scan" file="assets/VLP16_scan.stl"/>
+    <mesh name="VLP16-tower" file="assets/velodyne_tower.stl"/>
+  </asset>
+
+  <default>
+    <mesh maxhullvert="16"/>
+    <default class="throttle">
+      <joint type="hinge" axis="0 1 0" frictionloss="0.001" damping="0.01" armature="0.01" limited="false"/>
+    </default>
+    <default class="jackal_wheel">
+      <geom fitscale="1" type="mesh" friction="2 0.005 0.0001" condim="1" contype="0" conaffinity="1" mesh="jackal-wheel" mass="0.477"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="base_link" pos="3 0 4"/>
+    <body name="base_link" pos="0.0 0.0 0.1" euler="0 0 0">
+      <joint type="free"/>
+      <body name="base_footprint" pos="0 0 0.092">
+        <inertial pos="0.0  0.0 0.0" mass="16.523" diaginertia="0.3136 0.3922 0.4485"/>
+        <geom size="0.21 0.155 0.092" mass="16.523" condim="1" contype="0" conaffinity="1" type="box" rgba="0.2 0.2 0.2 1"/>
+      </body>
+      <geom type="mesh" rgba="0.8 0.8 0 1" condim="1" contype="0" conaffinity="1" mesh="jackal-fender"/>
+      <geom pos="0 0 0" quat="0 0 0 1" type="mesh" rgba="0.8 0.8 0 1" contype="0" conaffinity="1" mesh="jackal-fender"/>
+      <site name="imu" pos="0 0 0.2" group="5"/>
+      <body name="front_left_wheel_link" pos="0.131 0.187795 0.0345">
+        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.477" diaginertia="0.0024 0.0013 0.0013"/>
+        <joint class="throttle" name="front_left_wheel" pos="0 0 0" axis="0 1 0"/>
+        <geom name="front_left_wheel" size="0.095 0.00001" quat="0.707107 0.707107 0 0" type="capsule" contype="0" conaffinity="1" friction="1 0.005 0.0001" rgba="0.15 0.15 0.15 1"/>
+      </body>
+      <body name="front_right_wheel_link" pos="0.131 -0.187795 0.0345">
+        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.477" diaginertia="0.0024 0.0013 0.0013"/>
+        <joint class="throttle" name="front_right_wheel" pos="0 0 0" axis="0 1 0"/>
+        <geom name="front_right_wheel" size="0.095 0.00001" quat="0.707107 0.707107 0 0" type="capsule" contype="0" conaffinity="1" friction="1 0.005 0.0001" rgba="0.15 0.15 0.15 1"/>
+      </body>
+      <body name="rear_left_wheel_link" pos="-0.131 0.187795 0.0345">
+        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.477" diaginertia="0.0024 0.0013 0.0013"/>
+        <joint class="throttle" name="rear_left_wheel" pos="0 0 0" axis="0 1 0"/>
+        <geom name="rear_left_wheel" size="0.095 0.00001" quat="0.707107 0.707107 0 0" type="capsule" contype="0" conaffinity="1" friction="1 0.005 0.0001" rgba="0.15 0.15 0.15 1"/>
+      </body>
+      <body name="rear_right_wheel_link" pos="-0.131 -0.187795 0.0345">
+        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.477" diaginertia="0.0024 0.0013 0.0013"/>
+        <joint class="throttle" name="rear_right_wheel" pos="0 0 0" axis="0 1 0"/>
+        <geom name="rear_right_wheel" size="0.095 0.00001" quat="0.707107 0.707107 0 0" type="capsule" contype="0" conaffinity="1" friction="1 0.005 0.0001" rgba="0.15 0.15 0.15 1"/>
+      </body>
+      <geom pos="0 0 0.266" type="mesh" mass="0.1" condim="1" contype="0" conaffinity="1" mesh="VLP16-base-1"/>
+      <geom pos="0 0 0.266" type="mesh" mass="0.1" condim="1" contype="0" conaffinity="1" mesh="VLP16-base-2"/>
+      <geom pos="0 0 0.266" type="mesh" mass="0.63" condim="1" contype="0" conaffinity="1" mesh="VLP16-scan"/>
+      <geom pos="0 0 0.184" type="mesh" mass="0.63" condim="1" contype="0" conaffinity="1" mesh="VLP16-tower"/>
+      <geom pos="0.215 0 0.225" quat="0.5 0.5 0.5 0.5" type="mesh" contype="0" conaffinity="1" mass="0.072" mesh="d435"/>
+      <geom pos="0.2 0 0.2" quat="0.5 0.5 0.5 0.5" type="mesh" contype="0" conaffinity="1" mass="0.055" mesh="t265"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <velocity ctrllimited="true" ctrlrange="-26 26" name="front_left_wheel_velocity" joint="front_left_wheel"/>
+    <velocity ctrllimited="true" ctrlrange="-26 26" name="front_right_wheel_velocity" joint="front_right_wheel"/>
+    <velocity ctrllimited="true" ctrlrange="-26 26" name="rear_left_wheel_velocity" joint="rear_left_wheel"/>
+    <velocity ctrllimited="true" ctrlrange="-26 26" name="rear_right_wheel_velocity" joint="rear_right_wheel"/>
+  </actuator>
+
+  <sensor>
+    <gyro site="imu" name="local_angvel"/>
+    <velocimeter site="imu" name="local_linvel"/>
+    <accelerometer site="imu" name="local_linaccel"/>
+    <framepos objtype="site" objname="imu" name="base_link"/>
+    <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"/>
+  </sensor>
+</mujoco>
diff --git a/clearpath_jackal/scene.xml b/clearpath_jackal/scene.xml
@@ -0,0 +1,24 @@
+<mujoco model="jackal scene">
+  <include file="jackal.xml"/>
+
+  <visual>
+    <global offwidth="3840" offheight="2160" azimuth="140" elevation="-20"/>
+    <quality shadowsize="8192" offsamples="24"/>
+    <headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1"/>
+    <map stiffness="1e+04" stiffnessrot="5e+04" force="2e-05"/>
+    <scale jointwidth="0.01" framewidth="0.01"/>
+  </visual>
+
+  <statistic meansize="0.02" extent=".3" center="0 -0.1 -0.06"/>
+
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"
+      mark="edge" markrgb=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+    <texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0" width="100" height="100"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" type="plane" size="5 5 .1" material="grid" pos="0 0 -.132" solref="0.0002 1"/>
+  </worldbody>
+</mujoco>