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Move actuator force limits to joints (except gripper).
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@kevinzakka
kevinzakka committed Sep 6, 2024
1 parent 9ce4c17 commit 8117f63
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Showing 8 changed files with 110 additions and 181 deletions.
13 changes: 6 additions & 7 deletions pal_talos/scene_motor.xml
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@@ -1,24 +1,23 @@
<mujoco model="talos motor scene">
<include file="talos_motor.xml"/>

<statistic center="0 0 -0.1" extent="1.5"/>
<statistic center="0 0 .9" extent="1.5"/>

<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20"/>
<global azimuth="160" elevation="-10"/>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
</visual>

<asset>
<material name="MatPlane" reflectance="0.2" shininess="0.2" specular="1" texrepeat="5 5" texuniform="true"
texture="texplane"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
type="2d" width="200"/>
<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>
<geom name="floor" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
<light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
</worldbody>
</mujoco>
13 changes: 6 additions & 7 deletions pal_talos/scene_position.xml
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Original file line number Diff line number Diff line change
@@ -1,24 +1,23 @@
<mujoco model="talos position scene">
<include file="talos_position.xml"/>

<statistic center="0 0 -0.1" extent="1.5"/>
<statistic center="0 0 .9" extent="1.5"/>

<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20"/>
<global azimuth="160" elevation="-10"/>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
</visual>

<asset>
<material name="MatPlane" reflectance="0.2" shininess="0.2" specular="1" texrepeat="5 5" texuniform="true"
texture="texplane"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
type="2d" width="200"/>
<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>
<geom name="floor" pos="0 0 -1.01" size="0 0 1" type="plane" material="MatPlane"/>
<light name="spotlight" mode="targetbody" target="base_link" pos="1 0 20"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
</mujoco>
24 changes: 0 additions & 24 deletions pal_talos/scene_velocity.xml
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Binary file modified pal_talos/talos.png
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63 changes: 32 additions & 31 deletions pal_talos/talos.xml
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66 changes: 33 additions & 33 deletions pal_talos/talos_motor.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,42 +2,42 @@
<include file="talos.xml"/>

<actuator>
<motor name="torso_1_joint_torque" joint="torso_1_joint" forcerange="-200.0 200.0" ctrlrange="-200 200"/>
<motor name="torso_2_joint_torque" joint="torso_2_joint" forcerange="-200.0 200.0" ctrlrange="-200.0 200.0"/>
<motor name="head_1_joint_torque" joint="head_1_joint" forcerange="-8.0 8.0" ctrlrange="-8.0 8.0"/>
<motor name="head_2_joint_torque" joint="head_2_joint" forcerange="-4.0 4.0" ctrlrange="-4.0 4.0"/>
<motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" forcerange="-100.0 100.0" ctrlrange="-100.0 100.0"/>
<motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" forcerange="-100.0 100.0" ctrlrange="-100.0 100.0"/>
<motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" forcerange="-70.0 70.0" ctrlrange="-70.0 70.0"/>
<motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" forcerange="-70.0 70.0" ctrlrange="-70.0 70.0"/>
<motor name="arm_left_5_joint_torque" joint="arm_left_5_joint" forcerange="-20.0 20.0" ctrlrange="-20.0 20.0"/>
<motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" forcerange="-8.0 8.0" ctrlrange="-8.0 8.0"/>
<motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" forcerange="-8.0 8.0" ctrlrange="-8.0 8.0"/>
<motor name="gripper_left_joint_torque" joint="gripper_left_joint" forcerange="-1.0 1.0" ctrlrange="-1.0 1.0"/>
<motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" forcerange="-100.0 100.0" ctrlrange="-100.0 100.0"/>
<motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" forcerange="-100.0 100.0" ctrlrange="-100.0 100.0"/>
<motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" forcerange="-70.0 70.0" ctrlrange="-70.0 70.0"/>
<motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" forcerange="-70.0 70.0" ctrlrange="-70.0 70.0"/>
<motor name="arm_right_5_joint_torque" joint="arm_right_5_joint" forcerange="-20.0 20.0" ctrlrange="-20.0 20.0"/>
<motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" forcerange="-8.0 8.0" ctrlrange="-8.0 8.0"/>
<motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" forcerange="-8.0 8.0" ctrlrange="-8.0 8.0"/>
<motor name="gripper_right_joint_torque" joint="gripper_right_joint" forcerange="-1.0 1.0" ctrlrange="-1.0 1.0"/>
<motor name="leg_left_1_joint_torque" joint="leg_left_1_joint" forcerange="-100 100" ctrlrange="-100.0 100.0"/>
<motor name="leg_left_2_joint_torque" joint="leg_left_2_joint" forcerange="-160 160" ctrlrange="-160.0 160.0"/>
<motor name="leg_left_3_joint_torque" joint="leg_left_3_joint" forcerange="-160 160" ctrlrange="-160.0 160.0"/>
<motor name="leg_left_4_joint_torque" joint="leg_left_4_joint" forcerange="-400 400" ctrlrange="-400.0 400.0"/>
<motor name="leg_left_5_joint_torque" joint="leg_left_5_joint" forcerange="-160 160" ctrlrange="-160.0 160.0"/>
<motor name="leg_left_6_joint_torque" joint="leg_left_6_joint" forcerange="-100 100" ctrlrange="-100.0 100.0"/>
<motor name="leg_right_1_joint_torque" joint="leg_right_1_joint" forcerange="-100 100" ctrlrange="-100.0 100.0"/>
<motor name="leg_right_2_joint_torque" joint="leg_right_2_joint" forcerange="-160 160" ctrlrange="-160.0 160.0"/>
<motor name="leg_right_3_joint_torque" joint="leg_right_3_joint" forcerange="-160 160" ctrlrange="-160.0 160.0"/>
<motor name="leg_right_4_joint_torque" joint="leg_right_4_joint" forcerange="-400 400" ctrlrange="-400.0 400.0"/>
<motor name="leg_right_5_joint_torque" joint="leg_right_5_joint" forcerange="-160 160" ctrlrange="-160.0 160.0"/>
<motor name="leg_right_6_joint_torque" joint="leg_right_6_joint" forcerange="-100 100" ctrlrange="-100.0 100.0"/>
<motor name="torso_1_joint_torque" joint="torso_1_joint" ctrlrange="-200 200"/>
<motor name="torso_2_joint_torque" joint="torso_2_joint" ctrlrange="-200 200"/>
<motor name="head_1_joint_torque" joint="head_1_joint" ctrlrange="-8 8"/>
<motor name="head_2_joint_torque" joint="head_2_joint" ctrlrange="-4 4"/>
<motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" ctrlrange="-100 100"/>
<motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" ctrlrange="-100 100"/>
<motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" ctrlrange="-70 70"/>
<motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" ctrlrange="-70 70"/>
<motor name="arm_left_5_joint_torque" joint="arm_left_5_joint" ctrlrange="-20 20"/>
<motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" ctrlrange="-8 8"/>
<motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" ctrlrange="-8 8"/>
<motor name="gripper_left_joint_torque" joint="gripper_left_joint" forcerange="-1 1" ctrlrange="-1 1"/>
<motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" ctrlrange="-100 100"/>
<motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" ctrlrange="-100 100"/>
<motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" ctrlrange="-70 70"/>
<motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" ctrlrange="-70 70"/>
<motor name="arm_right_5_joint_torque" joint="arm_right_5_joint" ctrlrange="-20 20"/>
<motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" ctrlrange="-8 8"/>
<motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" ctrlrange="-8 8"/>
<motor name="gripper_right_joint_torque" joint="gripper_right_joint" forcerange="-1 1" ctrlrange="-1 1"/>
<motor name="leg_left_1_joint_torque" joint="leg_left_1_joint" ctrlrange="-100 100"/>
<motor name="leg_left_2_joint_torque" joint="leg_left_2_joint" ctrlrange="-160 160"/>
<motor name="leg_left_3_joint_torque" joint="leg_left_3_joint" ctrlrange="-160 160"/>
<motor name="leg_left_4_joint_torque" joint="leg_left_4_joint" ctrlrange="-400 400"/>
<motor name="leg_left_5_joint_torque" joint="leg_left_5_joint" ctrlrange="-160 160"/>
<motor name="leg_left_6_joint_torque" joint="leg_left_6_joint" ctrlrange="-100 100"/>
<motor name="leg_right_1_joint_torque" joint="leg_right_1_joint" ctrlrange="-100 100"/>
<motor name="leg_right_2_joint_torque" joint="leg_right_2_joint" ctrlrange="-160 160"/>
<motor name="leg_right_3_joint_torque" joint="leg_right_3_joint" ctrlrange="-160 160"/>
<motor name="leg_right_4_joint_torque" joint="leg_right_4_joint" ctrlrange="-400 400"/>
<motor name="leg_right_5_joint_torque" joint="leg_right_5_joint" ctrlrange="-160 160"/>
<motor name="leg_right_6_joint_torque" joint="leg_right_6_joint" ctrlrange="-100 100"/>
</actuator>

<keyframe>
<key
qpos="0 0 0.08 1 0 0 0 0 0 0 0 0 0.16 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.16 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
qpos="0 0 1.08 1 0 0 0 0 0 0 0 0 0.16 0 0 0 0 0 0 0 0 0 0 0 0 0 -0.16 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
</keyframe>
</mujoco>
68 changes: 33 additions & 35 deletions pal_talos/talos_position.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,74 +9,72 @@

<actuator>
<position class="position" name="torso_1_joint_position" joint="torso_1_joint" kp="2000"
ctrlrange="-1.2566370614359172 1.2566370614359172" forcerange="-200.0 200.0"/>
ctrlrange="-1.2566370614359172 1.2566370614359172"/>
<position class="position" name="torso_2_joint_position" joint="torso_2_joint" kp="500"
ctrlrange="-0.22689280275926285 0.7330382858376184" forcerange="-200.0 200.0"/>
ctrlrange="-0.22689280275926285 0.7330382858376184"/>
<position class="position" name="head_1_joint_position" joint="head_1_joint" kp="200"
ctrlrange="-0.20943951023931956 0.7853981633974483" forcerange="-8.0 8.0"/>
ctrlrange="-0.20943951023931956 0.7853981633974483"/>
<position class="position" name="head_2_joint_position" joint="head_2_joint" kp="1000"
ctrlrange="-1.3089969389957472 1.3089969389957472" forcerange="-4.0 4.0"/>
ctrlrange="-1.3089969389957472 1.3089969389957472"/>
<position class="position" name="arm_left_1_joint_position" joint="arm_left_1_joint" kp="100"
ctrlrange="-1.5707963267948966 0.7853981633974483" forcerange="-100.0 100.0"/>
ctrlrange="-1.5707963267948966 0.7853981633974483"/>
<position class="position" name="arm_left_2_joint_position" joint="arm_left_2_joint" kp="100"
ctrlrange="0.008726646259971648 2.871066619530672" forcerange="-100.0 100.0"/>
ctrlrange="0.008726646259971648 2.871066619530672"/>
<position class="position" name="arm_left_3_joint_position" joint="arm_left_3_joint" kp="100"
ctrlrange="-2.426007660272118 2.426007660272118" forcerange="-70.0 70.0"/>
ctrlrange="-2.426007660272118 2.426007660272118"/>
<position class="position" name="arm_left_4_joint_position" joint="arm_left_4_joint" kp="100"
ctrlrange="-2.234021442552742 -0.003490658503988659" forcerange="-70.0 70.0"/>
ctrlrange="-2.234021442552742 -0.003490658503988659"/>
<position class="position" name="arm_left_5_joint_position" joint="arm_left_5_joint" kp="100"
ctrlrange="-2.5132741228718345 2.5132741228718345" forcerange="-20.0 20.0"/>
ctrlrange="-2.5132741228718345 2.5132741228718345"/>
<position class="position" name="arm_left_6_joint_position" joint="arm_left_6_joint" kp="100"
ctrlrange="-1.3700834628155487 1.3700834628155487" forcerange="-8.0 8.0"/>
ctrlrange="-1.3700834628155487 1.3700834628155487"/>
<position class="position" name="arm_left_7_joint_position" joint="arm_left_7_joint" kp="100"
ctrlrange="-0.6806784082777885 0.6806784082777885" forcerange="-8.0 8.0"/>
ctrlrange="-0.6806784082777885 0.6806784082777885"/>
<position class="position" name="gripper_left_joint_position" joint="gripper_left_joint" kp="1000"
ctrlrange="-0.9599310885968813 0.0" forcerange="-10.0 10.0"/>
ctrlrange="-0.9599310885968813 0.0" forcerange="-10 10"/>
<position class="position" name="arm_right_1_joint_position" joint="arm_right_1_joint" kp="100"
ctrlrange="-0.7853981633974483 1.5707963267948966" forcerange="-100.0 100.0"/>
ctrlrange="-0.7853981633974483 1.5707963267948966"/>
<position class="position" name="arm_right_2_joint_position" joint="arm_right_2_joint" kp="100"
ctrlrange="-2.871066619530672 -0.008726646259971648" forcerange="-100.0 100.0"/>
ctrlrange="-2.871066619530672 -0.008726646259971648"/>
<position class="position" name="arm_right_3_joint_position" joint="arm_right_3_joint" kp="100"
ctrlrange="-2.426007660272118 2.426007660272118" forcerange="-70.0 70.0"/>
ctrlrange="-2.426007660272118 2.426007660272118"/>
<position class="position" name="arm_right_4_joint_position" joint="arm_right_4_joint" kp="100"
ctrlrange="-2.234021442552742 -0.003490658503988659" forcerange="-70.0 70.0"/>
ctrlrange="-2.234021442552742 -0.003490658503988659"/>
<position class="position" name="arm_right_5_joint_position" joint="arm_right_5_joint" kp="100"
ctrlrange="-2.5132741228718345 2.5132741228718345" forcerange="-20.0 20.0"/>
ctrlrange="-2.5132741228718345 2.5132741228718345"/>
<position class="position" name="arm_right_6_joint_position" joint="arm_right_6_joint" kp="100"
ctrlrange="-1.3700834628155487 1.3700834628155487" forcerange="-8.0 8.0"/>
ctrlrange="-1.3700834628155487 1.3700834628155487"/>
<position class="position" name="arm_right_7_joint_position" joint="arm_right_7_joint" kp="100"
ctrlrange="-0.6806784082777885 0.6806784082777885" forcerange="-8.0 8.0"/>
ctrlrange="-0.6806784082777885 0.6806784082777885"/>
<position class="position" name="gripper_right_joint_position" joint="gripper_right_joint" kp="1000"
ctrlrange="-0.9599310885968813 0.0" forcerange="-10.0 10.0"/>
ctrlrange="-0.9599310885968813 0.0" forcerange="-10 10"/>
<position class="position" name="leg_left_1_joint_position" joint="leg_left_1_joint" kp="1000"
ctrlrange="-0.3490658503988659 1.5707963267948966" forcerange="-100 100"/>
ctrlrange="-0.3490658503988659 1.5707963267948966"/>
<position class="position" name="leg_left_2_joint_position" joint="leg_left_2_joint" kp="1000"
ctrlrange="-0.5236 0.5236" forcerange="-160 160"/>
ctrlrange="-0.5236 0.5236"/>
<position class="position" name="leg_left_3_joint_position" joint="leg_left_3_joint" kp="1000"
ctrlrange="-2.095 0.7" forcerange="-160 160"/>
<position class="position" name="leg_left_4_joint_position" joint="leg_left_4_joint" kp="1000" ctrlrange="0 2.618"
forcerange="-400 400"/>
ctrlrange="-2.095 0.7"/>
<position class="position" name="leg_left_4_joint_position" joint="leg_left_4_joint" kp="1000" ctrlrange="0 2.618"/>
<position class="position" name="leg_left_5_joint_position" joint="leg_left_5_joint" kp="10000"
ctrlrange="-1.27 0.68" forcerange="-160 160"/>
ctrlrange="-1.27 0.68"/>
<position class="position" name="leg_left_6_joint_position" joint="leg_left_6_joint" kp="10000"
ctrlrange="-0.5236 0.5236" forcerange="-100 100"/>
ctrlrange="-0.5236 0.5236"/>
<position class="position" name="leg_right_1_joint_position" joint="leg_right_1_joint" kp="1000"
ctrlrange="-1.5707963267948966 0.3490658503988659" forcerange="-100 100"/>
ctrlrange="-1.5707963267948966 0.3490658503988659"/>
<position class="position" name="leg_right_2_joint_position" joint="leg_right_2_joint" kp="1000"
ctrlrange="-0.5236 0.5236" forcerange="-160 160"/>
ctrlrange="-0.5236 0.5236"/>
<position class="position" name="leg_right_3_joint_position" joint="leg_right_3_joint" kp="1000"
ctrlrange="-2.095 0.7" forcerange="-160 160"/>
<position class="position" name="leg_right_4_joint_position" joint="leg_right_4_joint" kp="1000" ctrlrange="0 2.618"
forcerange="-400 400"/>
ctrlrange="-2.095 0.7"/>
<position class="position" name="leg_right_4_joint_position" joint="leg_right_4_joint" kp="1000" ctrlrange="0 2.618"/>
<position class="position" name="leg_right_5_joint_position" joint="leg_right_5_joint" kp="10000"
ctrlrange="-1.27 0.68" forcerange="-160 160"/>
ctrlrange="-1.27 0.68"/>
<position class="position" name="leg_right_6_joint_position" joint="leg_right_6_joint" kp="10000"
ctrlrange="-0.5236 0.5236" forcerange="-100 100"/>
ctrlrange="-0.5236 0.5236"/>
</actuator>

<keyframe>
<key name="walk_pose"
qpos="0 0 0.03 0 0 0 0 0 0.15 0 0 0.3 0.4 -0.5 -1.5 0 0 0 0 -0.4 0 0 0 0 0 -0.3 -0.4 0.5 -1.5 0 0 0 0 -0.4 0 0 0 0 0 0 0 -0.4 0.8 -0.4 0 0 0 -0.4 0.8 -0.4 0"
qpos="0 0 1.025 0 0 0 0 0 0.15 0 0 0.3 0.4 -0.5 -1.5 0 0 0 0 -0.4 0 0 0 0 0 -0.3 -0.4 0.5 -1.5 0 0 0 0 -0.4 0 0 0 0 0 0 0 -0.4 0.8 -0.4 0 0 0 -0.4 0.8 -0.4 0"
ctrl="0 0.15 0 0 0.3 0.4 -0.5 -1.5 0 0 0 -0.4 -0.3 -0.4 0.5 -1.5 0 0 0 -0.4 0 0 -0.4 0.8 -0.4 0 0 0 -0.4 0.8 -0.4 0"/>
</keyframe>
</mujoco>
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