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0000000000000000000000000000000000000000..9075877b696d8753606521029fc145256cc516e2 --- /dev/null +++ b/robots/h1/urdf/h1_description.gv @@ -0,0 +1,68 @@ +digraph G { +node [shape=box]; +"pelvis" [label="pelvis"]; +"left_hip_yaw_link" [label="left_hip_yaw_link"]; +"left_hip_roll_link" [label="left_hip_roll_link"]; +"left_hip_pitch_link" [label="left_hip_pitch_link"]; +"left_knee_link" [label="left_knee_link"]; +"left_ankle_link" [label="left_ankle_link"]; +"right_hip_yaw_link" [label="right_hip_yaw_link"]; +"right_hip_roll_link" [label="right_hip_roll_link"]; +"right_hip_pitch_link" [label="right_hip_pitch_link"]; +"right_knee_link" [label="right_knee_link"]; +"right_ankle_link" [label="right_ankle_link"]; +"torso_link" [label="torso_link"]; +"imu_link" [label="imu_link"]; +"left_shoulder_pitch_link" [label="left_shoulder_pitch_link"]; +"left_shoulder_roll_link" [label="left_shoulder_roll_link"]; +"left_shoulder_yaw_link" [label="left_shoulder_yaw_link"]; +"left_elbow_link" [label="left_elbow_link"]; +"logo_link" [label="logo_link"]; +"right_shoulder_pitch_link" [label="right_shoulder_pitch_link"]; +"right_shoulder_roll_link" [label="right_shoulder_roll_link"]; +"right_shoulder_yaw_link" [label="right_shoulder_yaw_link"]; +"right_elbow_link" [label="right_elbow_link"]; +node [shape=ellipse, color=blue, fontcolor=blue]; +"pelvis" -> "left_hip_yaw_joint" [label="xyz: 0 0.0875 -0.1742 \nrpy: 0 -0 0"] +"left_hip_yaw_joint" -> "left_hip_yaw_link" +"left_hip_yaw_link" -> "left_hip_roll_joint" [label="xyz: 0.039468 0 0 \nrpy: 0 -0 0"] +"left_hip_roll_joint" -> "left_hip_roll_link" +"left_hip_roll_link" -> "left_hip_pitch_joint" [label="xyz: 0 0.11536 0 \nrpy: 0 -0 0"] +"left_hip_pitch_joint" -> "left_hip_pitch_link" +"left_hip_pitch_link" -> "left_knee_joint" [label="xyz: 0 0 -0.4 \nrpy: 0 -0 0"] +"left_knee_joint" -> "left_knee_link" +"left_knee_link" -> "left_ankle_joint" [label="xyz: 0 0 -0.4 \nrpy: 0 -0 0"] +"left_ankle_joint" -> "left_ankle_link" +"pelvis" -> "right_hip_yaw_joint" [label="xyz: 0 -0.0875 -0.1742 \nrpy: 0 -0 0"] +"right_hip_yaw_joint" -> "right_hip_yaw_link" +"right_hip_yaw_link" -> "right_hip_roll_joint" [label="xyz: 0.039468 0 0 \nrpy: 0 -0 0"] +"right_hip_roll_joint" -> "right_hip_roll_link" +"right_hip_roll_link" -> "right_hip_pitch_joint" [label="xyz: 0 -0.11536 0 \nrpy: 0 -0 0"] +"right_hip_pitch_joint" -> "right_hip_pitch_link" +"right_hip_pitch_link" -> "right_knee_joint" [label="xyz: 0 0 -0.4 \nrpy: 0 -0 0"] +"right_knee_joint" -> "right_knee_link" +"right_knee_link" -> "right_ankle_joint" [label="xyz: 0 0 -0.4 \nrpy: 0 -0 0"] +"right_ankle_joint" -> "right_ankle_link" +"pelvis" -> "torso_joint" [label="xyz: 0 0 0 \nrpy: 0 -0 0"] +"torso_joint" -> "torso_link" +"torso_link" -> "imu_joint" [label="xyz: -0.04452 -0.01891 0.27756 \nrpy: 0 -0 0"] +"imu_joint" -> "imu_link" +"torso_link" -> "left_shoulder_pitch_joint" [label="xyz: 0.0055 0.15535 0.42999 \nrpy: 0.43633 -0 0"] +"left_shoulder_pitch_joint" -> "left_shoulder_pitch_link" +"left_shoulder_pitch_link" -> "left_shoulder_roll_joint" [label="xyz: -0.0055 0.0565 -0.0165 \nrpy: -0.43633 0 0"] +"left_shoulder_roll_joint" -> "left_shoulder_roll_link" +"left_shoulder_roll_link" -> "left_shoulder_yaw_joint" [label="xyz: 0 0 -0.1343 \nrpy: 0 -0 0"] +"left_shoulder_yaw_joint" -> "left_shoulder_yaw_link" +"left_shoulder_yaw_link" -> "left_elbow_joint" [label="xyz: 0.0185 0 -0.198 \nrpy: 0 -0 0"] +"left_elbow_joint" -> "left_elbow_link" +"torso_link" -> "logo_joint" [label="xyz: 0 0 0 \nrpy: 0 -0 0"] +"logo_joint" -> "logo_link" +"torso_link" -> "right_shoulder_pitch_joint" [label="xyz: 0.0055 -0.15535 0.42999 \nrpy: -0.43633 0 0"] +"right_shoulder_pitch_joint" -> "right_shoulder_pitch_link" +"right_shoulder_pitch_link" -> "right_shoulder_roll_joint" [label="xyz: -0.0055 -0.0565 -0.0165 \nrpy: 0.43633 -0 0"] +"right_shoulder_roll_joint" -> "right_shoulder_roll_link" +"right_shoulder_roll_link" -> "right_shoulder_yaw_joint" [label="xyz: 0 0 -0.1343 \nrpy: 0 -0 0"] +"right_shoulder_yaw_joint" -> "right_shoulder_yaw_link" +"right_shoulder_yaw_link" -> "right_elbow_joint" [label="xyz: 0.0185 0 -0.198 \nrpy: 0 -0 0"] +"right_elbow_joint" -> "right_elbow_link" +} diff --git a/robots/h1/urdf/h1_description.pdf b/robots/h1/urdf/h1_description.pdf new file mode 100644 index 0000000000000000000000000000000000000000..93c1eb1f3f785a11e133a14a2b1d2d7eb5e75c42 Binary files /dev/null and b/robots/h1/urdf/h1_description.pdf differ diff --git a/robots/h1/urdf/h1_wrist.urdf b/robots/h1/urdf/h1_wrist.urdf new file mode 100644 index 0000000000000000000000000000000000000000..859245593beceb49b99df518c10aefd3617d1c66 --- /dev/null +++ b/robots/h1/urdf/h1_wrist.urdf @@ -0,0 +1,1242 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ diff --git a/robots/h1/urdf/h1_wrist_old.urdf b/robots/h1/urdf/h1_wrist_old.urdf new file mode 100644 index 0000000000000000000000000000000000000000..005a268151ed26b9736d115adc04de1602783e89 --- /dev/null +++ b/robots/h1/urdf/h1_wrist_old.urdf @@ -0,0 +1,1240 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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a/trajs/humanoidbench/crawl/v2/initial_state_v2.json b/trajs/humanoidbench/crawl/v2/initial_state_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..ad57da28097988a400292bb7eed713170806511d --- /dev/null +++ b/trajs/humanoidbench/crawl/v2/initial_state_v2.json @@ -0,0 +1,108 @@ +{ + "h1": [ + { + "init_state": { + "h1": { + "dof_pos": { + "left_hip_yaw": 0.0, + "left_hip_roll": 0.0, + "left_hip_pitch": -0.4, + "left_knee": 0.8, + "left_ankle": -0.4, + "right_hip_yaw": 0.0, + "right_hip_roll": 0.0, + "right_hip_pitch": -0.4, + "right_knee": 0.8, + "right_ankle": -0.4, + "torso": 0.0, + "left_shoulder_pitch": 0.0, + "left_shoulder_roll": 0.0, + "left_shoulder_yaw": 0.0, + "left_elbow": 0.0, + "right_shoulder_pitch": 0.0, + "right_shoulder_roll": 0.0, + "right_shoulder_yaw": 0.0, + "right_elbow": 0.0 + }, + "pos": [ + 0.0, + 0.0, + 0.98 + ], + "rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + } + } + ], + "h1_simple_hand": [ + { + "init_state": { + "h1_simple_hand": { + "dof_pos": { + "left_hip_yaw": 0.0, + "left_hip_roll": 0.0, + "left_hip_pitch": -0.4, + "left_knee": 0.8, + "left_ankle": -0.4, + "right_hip_yaw": 0.0, + "right_hip_roll": 0.0, + "right_hip_pitch": -0.4, + "right_knee": 0.8, + "right_ankle": -0.4, + "torso": 0.0, + "left_shoulder_pitch": 0.0, + "left_shoulder_roll": 0.0, + "left_shoulder_yaw": 0.0, + "left_elbow": 0.0, + "left_hand": 0.0, + "right_shoulder_pitch": 0.0, + "right_shoulder_roll": 0.0, + "right_shoulder_yaw": 0.0, + "right_elbow": 0.0, + "right_hand": 0.0, + "L_index_proximal": 0.0, + "L_index_intermediate": 0.0, + "L_middle_proximal": 0.0, + "L_middle_intermediate": 0.0, + "L_ring_proximal": 0.0, + "L_ring_intermediate": 0.0, + "L_pinky_proximal": 0.0, + "L_pinky_intermediate": 0.0, + "L_thumb_proximal_yaw": 0.0, + "L_thumb_proximal_pitch": 0.0, + "L_thumb_intermediate": 0.0, + "L_thumb_distal": 0.0, + "R_index_proximal": 0.0, + "R_index_intermediate": 0.0, + "R_middle_proximal": 0.0, + "R_middle_intermediate": 0.0, + "R_ring_proximal": 0.0, + "R_ring_intermediate": 0.0, + "R_pinky_proximal": 0.0, + "R_pinky_intermediate": 0.0, + "R_thumb_proximal_yaw": 0.0, + "R_thumb_proximal_pitch": 0.0, + "R_thumb_intermediate": 0.0, + "R_thumb_distal": 0.0 + }, + "pos": [ + 0.0, + 0.0, + 0.98 + ], + "rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + } + } + ] +} diff --git a/trajs/humanoidbench/cube/v2/initial_state_v2.json b/trajs/humanoidbench/cube/v2/initial_state_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..0dfdc3667d9bb88ea3ac262348ccef3851f3bc17 --- /dev/null +++ b/trajs/humanoidbench/cube/v2/initial_state_v2.json @@ -0,0 +1,68 @@ +{ + "h1_simple_hand": [ + { + "init_state": { + "h1_simple_hand": { + "dof_pos": { + "left_hip_yaw": 0.0, + "left_hip_roll": 0.0, + "left_hip_pitch": -0.4, + "left_knee": 0.8, + "left_ankle": -0.4, + "right_hip_yaw": 0.0, + "right_hip_roll": 0.0, + "right_hip_pitch": -0.4, + "right_knee": 0.8, + "right_ankle": -0.4, + "torso": 0.0, + "left_shoulder_pitch": 0.0, + "left_shoulder_roll": 0.0, + "left_shoulder_yaw": 0.0, + "left_elbow": 0.0, + "left_hand": 0.0, + "right_shoulder_pitch": 0.0, + "right_shoulder_roll": 0.0, + "right_shoulder_yaw": 0.0, + "right_elbow": 0.0, + "right_hand": 0.0, + "L_index_proximal": 0.0, + "L_index_intermediate": 0.0, + "L_middle_proximal": 0.0, + "L_middle_intermediate": 0.0, + "L_ring_proximal": 0.0, + "L_ring_intermediate": 0.0, + "L_pinky_proximal": 0.0, + "L_pinky_intermediate": 0.0, + "L_thumb_proximal_yaw": 0.0, + "L_thumb_proximal_pitch": 0.0, + "L_thumb_intermediate": 0.0, + "L_thumb_distal": 0.0, + "R_index_proximal": 0.0, + "R_index_intermediate": 0.0, + "R_middle_proximal": 0.0, + "R_middle_intermediate": 0.0, + "R_ring_proximal": 0.0, + "R_ring_intermediate": 0.0, + "R_pinky_proximal": 0.0, + "R_pinky_intermediate": 0.0, + "R_thumb_proximal_yaw": 0.0, + "R_thumb_proximal_pitch": 0.0, + "R_thumb_intermediate": 0.0, + "R_thumb_distal": 0.0 + }, + "pos": [ + 0.0, + 0.0, + 0.98 + ], + "rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + } + } + ] +} diff --git a/trajs/humanoidbench/door/v2/initial_state_v2.json b/trajs/humanoidbench/door/v2/initial_state_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..ad57da28097988a400292bb7eed713170806511d --- /dev/null +++ b/trajs/humanoidbench/door/v2/initial_state_v2.json @@ -0,0 +1,108 @@ +{ + "h1": [ + { + "init_state": { + "h1": { + "dof_pos": { + "left_hip_yaw": 0.0, + "left_hip_roll": 0.0, + "left_hip_pitch": -0.4, + "left_knee": 0.8, + "left_ankle": -0.4, + "right_hip_yaw": 0.0, + "right_hip_roll": 0.0, + "right_hip_pitch": -0.4, + "right_knee": 0.8, + "right_ankle": -0.4, + "torso": 0.0, + "left_shoulder_pitch": 0.0, + "left_shoulder_roll": 0.0, + "left_shoulder_yaw": 0.0, + "left_elbow": 0.0, + "right_shoulder_pitch": 0.0, + "right_shoulder_roll": 0.0, + "right_shoulder_yaw": 0.0, + "right_elbow": 0.0 + }, + "pos": [ + 0.0, + 0.0, + 0.98 + ], + "rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + } + } + ], + "h1_simple_hand": [ + { + "init_state": { + "h1_simple_hand": { + "dof_pos": { + "left_hip_yaw": 0.0, + "left_hip_roll": 0.0, + "left_hip_pitch": -0.4, + "left_knee": 0.8, + "left_ankle": -0.4, + "right_hip_yaw": 0.0, + "right_hip_roll": 0.0, + "right_hip_pitch": -0.4, + "right_knee": 0.8, + "right_ankle": -0.4, + "torso": 0.0, + "left_shoulder_pitch": 0.0, + "left_shoulder_roll": 0.0, + "left_shoulder_yaw": 0.0, + "left_elbow": 0.0, + "left_hand": 0.0, + "right_shoulder_pitch": 0.0, + "right_shoulder_roll": 0.0, + "right_shoulder_yaw": 0.0, + "right_elbow": 0.0, + "right_hand": 0.0, + "L_index_proximal": 0.0, + "L_index_intermediate": 0.0, + "L_middle_proximal": 0.0, + "L_middle_intermediate": 0.0, + "L_ring_proximal": 0.0, + "L_ring_intermediate": 0.0, + "L_pinky_proximal": 0.0, + "L_pinky_intermediate": 0.0, + "L_thumb_proximal_yaw": 0.0, + "L_thumb_proximal_pitch": 0.0, + "L_thumb_intermediate": 0.0, + "L_thumb_distal": 0.0, + "R_index_proximal": 0.0, + "R_index_intermediate": 0.0, + "R_middle_proximal": 0.0, + "R_middle_intermediate": 0.0, + "R_ring_proximal": 0.0, + "R_ring_intermediate": 0.0, + "R_pinky_proximal": 0.0, + "R_pinky_intermediate": 0.0, + "R_thumb_proximal_yaw": 0.0, + "R_thumb_proximal_pitch": 0.0, + "R_thumb_intermediate": 0.0, + "R_thumb_distal": 0.0 + }, + "pos": [ + 0.0, + 0.0, + 0.98 + ], + "rot": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + } + } + ] +} diff --git a/trajs/humanoidbench/highbar/v2/initial_state_v2.json b/trajs/humanoidbench/highbar/v2/initial_state_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..ad57da28097988a400292bb7eed713170806511d --- /dev/null +++ b/trajs/humanoidbench/highbar/v2/initial_state_v2.json @@ -0,0 +1,108 @@ +{ + "h1": [ + { + "init_state": { + "h1": { + "dof_pos": { + "left_hip_yaw": 0.0, + "left_hip_roll": 0.0, + "left_hip_pitch": -0.4, + "left_knee": 0.8, + "left_ankle": -0.4, + "right_hip_yaw": 0.0, + "right_hip_roll": 0.0, + "right_hip_pitch": -0.4, + 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