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2026-11-02 17:10:39 +08:00
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s10_supermimic/robot/model/README.md
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S10 model adapted from the Deep Robotics deployment SDK
(`S10_description/s10_mjcf/S10.xml`). Only the 17 mesh files referenced by
`s10.xml` are included. The source XML is BSD-3-Clause, see `../LICENSE_s10`.
Local changes:
- Removed the world floor and light so mjlab can attach the robot to its own
terrain.
- Removed the torque `<motor>` actuator block; mjlab adds native position
actuators for the 12 leg joints and native velocity actuators for the 4
wheels.
- Added names to the four wheel collision cylinders
(`fl/fr/hl/hr_wheel_collision`) so wheel friction randomisation and contact
sensors can address them.
- Removed the `<sensor>` block. The SDK XML has unnamed `accelerometer` and
`gyro` elements, which mjlab tries to wrap as a sensor with an empty name and
fails with `KeyError: Invalid name ''` during scene initialization. The
training actor/world model read MuJoCo data directly and do not use these XML
sensors.
- `robot/config.py` names remaining unnamed collision geoms, clears collision
margins for Warp MULTICCD compatibility, and delegates solver options to the
task.
- `meshdir` changed from `../meshes/` to `meshes/`.
Default pose, joint limits, link geometry and inertial values are unchanged
from the SDK model. Actuator gains follow the SDK/IsaacLab S10 configuration:
legs kp=80, kd=2, effort=50 N·m; wheels damping=0.8, effort=14 N·m.
These values are taken from the provided deployment/training projects and are
not independently hardware-calibrated here.
s10_supermimic/robot/model/meshes/base_link.STL
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s10_supermimic/robot/model/s10.xml
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<?xml version='1.0' encoding='utf-8'?>
<mujoco model="S10">
<default>
<default class="robot">
<default class="motor">
<joint />
<motor />
</default>
<default class="visual">
<geom material="default_material" contype="0" conaffinity="0" group="2" />
</default>
<default class="collision">
<geom material="collision_material" condim="3" contype="1" conaffinity="1" solref="0.005 1" friction="1 0.01 0.001" density="0" group="1" />
</default>
</default>
</default>
<compiler angle="radian" meshdir="meshes/" />
<compiler autolimits="true" />
<asset>
<material name="default_material" rgba="0.7 0.7 0.7 1" />
<material name="collision_material" rgba="0.0 0.4 0.8 0.2" />
<mesh name="base_link" file="base_link.STL" />
<mesh name="fl_hipx" file="fl_hipx.STL" />
<mesh name="fl_hipy" file="fl_hipy.STL" />
<mesh name="fl_knee" file="fl_knee.STL" />
<mesh name="fl_wheel" file="fl_wheel.STL" />
<mesh name="fr_hipx" file="fr_hipx.STL" />
<mesh name="fr_hipy" file="fr_hipy.STL" />
<mesh name="fr_knee" file="fr_knee.STL" />
<mesh name="fr_wheel" file="fr_wheel.STL" />
<mesh name="hl_hipx" file="hl_hipx.STL" />
<mesh name="hl_hipy" file="hl_hipy.STL" />
<mesh name="hl_knee" file="hl_knee.STL" />
<mesh name="hl_wheel" file="hl_wheel.STL" />
<mesh name="hr_hipx" file="hr_hipx.STL" />
<mesh name="hr_hipy" file="hr_hipy.STL" />
<mesh name="hr_knee" file="hr_knee.STL" />
<mesh name="hr_wheel" file="hr_wheel.STL" />
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" />
<material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" />
</asset>
<worldbody>
<body name="base_link" pos="0 0.0 0.5" quat="1 0 0 0" childclass="robot">
<freejoint name="floating_base" />
<inertial pos="-0.000512 0.057317 0.001182" quat="1 0 0 0" mass="8.023087" diaginertia="0.115559 0.171329 0.262028" />
<site name="imu_site" pos="0.0075 -0.0373 0.0556" size="0.005" rgba="1 0 0 1" />
<site name="base_site" pos="0 0 0" quat="1 0 0 0" />
<geom type="mesh" class="visual" mesh="base_link" />
<geom size="0.08 0.3" pos="0 0.024 0" quat="0.707107 0 0.707107 0" type="cylinder" class="collision" />
<geom size="0.08 0.3" pos="0 -0.024 0" quat="0.707107 0 0.707107 0" type="cylinder" class="collision" />
<geom size="0.08 0.024 0.3" quat="0.707107 0 0.707107 0" type="box" class="collision" />
<body name="fl_hipx" pos="0.2277 0.0574 0">
<inertial pos="-0.005034 0.023524 4.6e-05" quat="0.25609 0.665262 -0.228203 0.663151" mass="0.627405" diaginertia="0.000415056 0.000391723 0.000223221" />
<joint name="fl_hipx_joint" pos="0 0 0" axis="-1 0 0" range="-0.6109 0.6109" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="fl_hipx" />
<geom size="0.04 0.05" pos="0 0.054 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" />
<body name="fl_hipy" pos="0 0.0779 0">
<inertial pos="7.4e-05 0.018439 -0.129675" quat="0.701304 -0.0510428 0.0516391 0.709155" mass="0.885874" diaginertia="0.00454086 0.00445199 0.00030515" />
<joint name="fl_hipy_joint" pos="0 0 0" axis="0 -1 0" range="-2.5307 2.5307" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="fl_hipy" />
<geom size="0.032 0.012 0.09" pos="0 0.012 -0.09" type="box" class="collision" />
<geom size="0.04 0.04" pos="0 0.018 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fl_knee_joint_collision" />
<body name="fl_knee" pos="0 0 -0.18">
<inertial pos="-3.2e-05 0.013504 -0.156308" quat="0.703786 -0.068447 0.068447 0.703786" mass="0.640283" diaginertia="0.0022296 0.002221 0.000193398" />
<joint name="fl_knee_joint" pos="0 0 0" axis="0 -1 0" range="-2.7227 2.7227" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="fl_knee" />
<geom size="0.029 0.01 0.09" pos="0 -0.012 -0.09" type="box" class="collision" name="fl_shin_collision" />
<geom size="0.04 0.025" pos="0 0.002 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fl_knee_hub_collision" />
<body name="fl_wheel" pos="0 0.045891 -0.18">
<inertial pos="-8e-06 0.001694 -5e-06" quat="0.707107 0 0 0.707107" mass="0.587952" diaginertia="0.002003 0.001059 0.001059" />
<joint name="fl_wheel_joint" pos="0 0 0" axis="0 -1 0" actuatorfrcrange="-14 14" />
<geom type="mesh" class="visual" mesh="fl_wheel" />
<geom size="0.081 0.0185" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fl_wheel_collision" />
</body>
</body>
</body>
</body>
<body name="fr_hipx" pos="0.2277 -0.0574 0">
<inertial pos="-0.004831 -0.02349 0.000169" quat="-0.278522 0.675499 0.205833 0.650968" mass="0.626546" diaginertia="0.000415238 0.000395047 0.000218715" />
<joint name="fr_hipx_joint" pos="0 0 0" axis="-1 0 0" range="-0.6109 0.6109" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="fr_hipx" />
<geom size="0.04 0.05" pos="0 -0.054 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" />
<body name="fr_hipy" pos="0 -0.0779 0">
<inertial pos="-7.4e-05 -0.018439 -0.129675" quat="0.701304 0.0510428 -0.0516391 0.709155" mass="0.885874" diaginertia="0.00454086 0.00445199 0.00030515" />
<joint name="fr_hipy_joint" pos="0 0 0" axis="0 -1 0" range="-2.5307 2.5307" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="fr_hipy" />
<geom size="0.032 0.012 0.09" pos="0 -0.012 -0.09" type="box" class="collision" />
<geom size="0.04 0.04" pos="0 -0.018 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fr_knee_joint_collision" />
<body name="fr_knee" pos="0 0 -0.18">
<inertial pos="3.2e-05 -0.013504 -0.156308" quat="0.703786 0.068447 -0.068447 0.703786" mass="0.640283" diaginertia="0.0022296 0.002221 0.000193398" />
<joint name="fr_knee_joint" pos="0 0 0" axis="0 -1 0" range="-2.7227 2.7227" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="fr_knee" />
<geom size="0.029 0.01 0.09" pos="0 0.012 -0.09" type="box" class="collision" name="fr_shin_collision" />
<geom size="0.04 0.025" pos="0 -0.002 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fr_knee_hub_collision" />
<body name="fr_wheel" pos="0 -0.045891 -0.18">
<inertial pos="8e-06 -0.001694 5e-06" quat="0.707107 0 0 0.707107" mass="0.587952" diaginertia="0.002003 0.001059 0.001059" />
<joint name="fr_wheel_joint" pos="0 0 0" axis="0 -1 0" actuatorfrcrange="-14 14" />
<geom type="mesh" class="visual" mesh="fr_wheel" />
<geom size="0.081 0.0185" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="fr_wheel_collision" />
</body>
</body>
</body>
</body>
<body name="hl_hipx" pos="-0.2277 0.0574 0">
<inertial pos="0.004831 0.02349 0.000169" quat="-0.205833 0.650968 0.278522 0.675499" mass="0.626546" diaginertia="0.000415238 0.000395047 0.000218715" />
<joint name="hl_hipx_joint" pos="0 0 0" axis="-1 0 0" range="-0.6109 0.6109" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="hl_hipx" />
<geom size="0.04 0.05" pos="0 0.054 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" />
<body name="hl_hipy" pos="0 0.0779 0">
<inertial pos="7.4e-05 0.018439 -0.129675" quat="0.701304 -0.0510428 0.0516391 0.709155" mass="0.885874" diaginertia="0.00454086 0.00445199 0.00030515" />
<joint name="hl_hipy_joint" pos="0 0 0" axis="0 -1 0" range="-2.5307 2.5307" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="hl_hipy" />
<geom size="0.032 0.012 0.09" pos="0 0.012 -0.09" type="box" class="collision" />
<geom size="0.04 0.04" pos="0 0.018 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hl_knee_joint_collision" />
<body name="hl_knee" pos="0 0 -0.18">
<inertial pos="-3.2e-05 0.013504 -0.156308" quat="0.703786 -0.068447 0.068447 0.703786" mass="0.640283" diaginertia="0.0022296 0.002221 0.000193398" />
<joint name="hl_knee_joint" pos="0 0 0" axis="0 -1 0" range="-2.7227 2.7227" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="hl_knee" />
<geom size="0.029 0.01 0.09" pos="0 -0.012 -0.09" type="box" class="collision" name="hl_shin_collision" />
<geom size="0.04 0.025" pos="0 0.002 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hl_knee_hub_collision" />
<body name="hl_wheel" pos="0 0.045891 -0.18">
<inertial pos="-8e-06 0.001694 -5e-06" quat="0.707107 0 0 0.707107" mass="0.587952" diaginertia="0.002003 0.001059 0.001059" />
<joint name="hl_wheel_joint" pos="0 0 0" axis="0 -1 0" actuatorfrcrange="-14 14" />
<geom type="mesh" class="visual" mesh="hl_wheel" />
<geom size="0.081 0.0185" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hl_wheel_collision" />
</body>
</body>
</body>
</body>
<body name="hr_hipx" pos="-0.2277 -0.0574 0">
<inertial pos="0.005034 -0.023524 4.6e-05" quat="0.228203 0.663151 -0.25609 0.665262" mass="0.627405" diaginertia="0.000415056 0.000391723 0.000223221" />
<joint name="hr_hipx_joint" pos="0 0 0" axis="-1 0 0" range="-0.6109 0.6109" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="hr_hipx" />
<geom size="0.04 0.05" pos="0 -0.054 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" />
<body name="hr_hipy" pos="0 -0.0779 0">
<inertial pos="-7.4e-05 -0.018439 -0.129675" quat="0.701304 0.0510428 -0.0516391 0.709155" mass="0.885874" diaginertia="0.00454086 0.00445199 0.00030515" />
<joint name="hr_hipy_joint" pos="0 0 0" axis="0 -1 0" range="-2.5307 2.5307" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="hr_hipy" />
<geom size="0.032 0.012 0.09" pos="0 -0.012 -0.09" type="box" class="collision" />
<geom size="0.04 0.04" pos="0 -0.018 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hr_knee_joint_collision" />
<body name="hr_knee" pos="0 0 -0.18">
<inertial pos="3.2e-05 -0.013504 -0.156308" quat="0.703786 0.068447 -0.068447 0.703786" mass="0.640283" diaginertia="0.0022296 0.002221 0.000193398" />
<joint name="hr_knee_joint" pos="0 0 0" axis="0 -1 0" range="-2.7227 2.7227" actuatorfrcrange="-50 50" />
<geom type="mesh" class="visual" mesh="hr_knee" />
<geom size="0.029 0.01 0.09" pos="0 0.012 -0.09" type="box" class="collision" name="hr_shin_collision" />
<geom size="0.04 0.025" pos="0 -0.002 -0.18" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hr_knee_hub_collision" />
<body name="hr_wheel" pos="0 -0.045891 -0.18">
<inertial pos="8e-06 -0.001694 5e-06" quat="0.707107 0 0 0.707107" mass="0.587952" diaginertia="0.002003 0.001059 0.001059" />
<joint name="hr_wheel_joint" pos="0 0 0" axis="0 -1 0" actuatorfrcrange="-14 14" />
<geom type="mesh" class="visual" mesh="hr_wheel" />
<geom size="0.081 0.0185" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" name="hr_wheel_collision" />
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="fl_hipx" />
<exclude body1="fl_hipx" body2="fl_hipy" />
<exclude body1="fl_hipy" body2="fl_knee" />
<exclude body1="fl_knee" body2="fl_wheel" />
<exclude body1="base_link" body2="fr_hipx" />
<exclude body1="fr_hipx" body2="fr_hipy" />
<exclude body1="fr_hipy" body2="fr_knee" />
<exclude body1="fr_knee" body2="fr_wheel" />
<exclude body1="base_link" body2="hl_hipx" />
<exclude body1="hl_hipx" body2="hl_hipy" />
<exclude body1="hl_hipy" body2="hl_knee" />
<exclude body1="hl_knee" body2="hl_wheel" />
<exclude body1="base_link" body2="hr_hipx" />
<exclude body1="hr_hipx" body2="hr_hipy" />
<exclude body1="hr_hipy" body2="hr_knee" />
<exclude body1="hr_knee" body2="hr_wheel" />
</contact>
</mujoco>