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feat(lite_biped_debug): add the deployment scene wrapper #14

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Merged
T-K-233 merged 2 commits into from
Aug 8, 2026
Merged

feat(lite_biped_debug): add the deployment scene wrapper #14

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8960da7
feat(lite_biped_debug): add the deployment scene wrapper
T-K-233 Aug 8, 2026
d3f6c38
fix: no literal '--' inside the scene's XML comment
T-K-233 Aug 8, 2026
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52 changes: 52 additions & 0 deletions robots/lite_biped_debug/mjcf/lite_biped_debug_scene.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- Deployment sim SCENE for the floating-base lite_biped_debug: the generated
robot (lite_biped_debug.xml: freejoint + IMU site/sensors + actuators) on a
ground plane, with a `home` keyframe for the standing spawn pose.

Hand-authored (NOT generated), mirroring lite_biped/mjcf/lite_biped_scene.xml:
the generator emits the robot-only lite_biped_debug.xml (reused as-is by
mjlab training, which adds its own terrain); this wrapper adds the deployment
floor + spawn pose. It lives in this mjcf/ dir so the included robot's
meshdir ("../meshes/visual/") resolves. Consumed by humanoid_bringup_lite
biped_mujoco.launch (robot_variant:=lite_biped_debug).

Floor friction and the visual block are byte-identical to lite_biped_scene so
that a lite_biped vs lite_biped_debug A/B isolates the FOOT, nothing else.

home keyframe qpos differs from lite_biped only in the base z: the debug box
foot puts the pelvis 25 mm lower at the same joint angles (0.7443 m
above the sole vs 0.7693 m), so 0.80 -> 0.775 keeps the same ~31 mm of
spawn clearance. The 14 leg joints are unchanged (L hip p/r/y, knee,
ankle y/p/r; then R), matching the training default pose. -->
<mujoco model="lite_biped_debug_scene">
<include file="lite_biped_debug.xml"/>

<statistic center="0 0 0.5" extent="1.6"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.35 0.35 0.35" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
</visual>

<asset>
<texture type="2d" name="groundplane" builtin="checker" mark="edge"
rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" markrgb="0.8 0.8 0.8"
width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true"
texrepeat="5 5" reflectance="0.1"/>
</asset>

<worldbody>
<light pos="0 0 3.0" dir="0 0 -1" directional="true"/>
<geom name="floor" type="plane" size="0 0 0.05" material="groundplane"
condim="3" friction="1.0 0.005 0.0001"/>
</worldbody>

<keyframe>
<key name="home"
qpos="0 0 0.775 1 0 0 0
-0.1745 0 0 0.3491 0 -0.1745 0
-0.1745 0 0 0.3491 0 -0.1745 0"/>
</keyframe>
</mujoco>
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