30 lines
1.5 KiB
Markdown
30 lines
1.5 KiB
Markdown
S10 model adapted from the Deep Robotics deployment SDK
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(`S10_description/s10_mjcf/S10.xml`). Only the 17 mesh files referenced by
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`s10.xml` are included. The source XML is BSD-3-Clause, see `../LICENSE_s10`.
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Local changes:
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- Removed the world floor and light so mjlab can attach the robot to its own
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terrain.
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- Removed the torque `<motor>` actuator block; mjlab adds native position
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actuators for the 12 leg joints and native velocity actuators for the 4
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wheels.
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- Added names to the four wheel collision cylinders
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(`fl/fr/hl/hr_wheel_collision`) so wheel friction randomisation and contact
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sensors can address them.
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- Removed the `<sensor>` block. The SDK XML has unnamed `accelerometer` and
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`gyro` elements, which mjlab tries to wrap as a sensor with an empty name and
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fails with `KeyError: Invalid name ''` during scene initialization. The
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training actor/world model read MuJoCo data directly and do not use these XML
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sensors.
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- `robot/config.py` names remaining unnamed collision geoms, clears collision
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margins for Warp MULTICCD compatibility, and delegates solver options to the
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task.
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- `meshdir` changed from `../meshes/` to `meshes/`.
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Default pose, joint limits, link geometry and inertial values are unchanged
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from the SDK model. Actuator gains follow the SDK/IsaacLab S10 configuration:
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legs kp=80, kd=2, effort=50 N·m; wheels damping=0.8, effort=14 N·m.
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These values are taken from the provided deployment/training projects and are
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not independently hardware-calibrated here.
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