Initial commit

2026-11-02 17:10:39 +08:00
commit 102fdbaf47
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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.