first_amp

.gitignore

@@ -57,7 +57,7 @@ runs
 # other
 *.egg-info
 __pycache__
-
+*.pt
 *.swp
 
 MUJOCO_LOG.TXT
\ No newline at end of file

datasets/bot_elf/retar_hor_jog_30.json

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datasets/bot_elf/retar_hor_jog_acc_30.json

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datasets/bot_elf/retar_hor_jog_left_30.json

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datasets/bot_elf/retar_hor_jog_right_30.json

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datasets/bot_elf/retar_hor_jog_stop_30.json

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\ No newline at end of file

datasets/bot_elf_tempurdf/urdf/bot_elf.urdf

+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="bot_elf">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00480846 0.00243995 0.00377326"
+        rpy="0 0 0" />
+      <mass
+        value="8.50938212" />
+      <inertia
+        ixx="0.26359734"
+        ixy="0.00011414"
+        ixz="-0.00119988"
+        iyy="0.21214127"
+        iyz="6.45e-06"
+        izz="0.07164624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="l_hip_z_link">
+    <inertial>
+      <origin
+        xyz="-0.09265961 1.831e-05 0.01333585"
+        rpy="0 0 0" />
+      <mass
+        value="1.23681234" />
+      <inertia
+        ixx="0.00268054"
+        ixy="-1.47e-06"
+        ixz="-0.00103486"
+        iyy="0.00310785"
+        iyz="1.06e-06"
+        izz="0.0019156" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_z_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_hip_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.1 -0.2929"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="l_hip_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_hip_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00295307 -0.04731227 4.49e-06"
+        rpy="0 0 0" />
+      <mass
+        value="1.74956721" />
+      <inertia
+        ixx="0.0020751"
+        ixy="0.00023651"
+        ixz="4.3e-07"
+        iyy="0.00317673"
+        iyz="-1.6e-07"
+        izz="0.00240539" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_x_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_hip_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_z_link" />
+    <child
+      link="l_hip_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.523"
+      upper="0.785"
+      effort="38"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_hip_y_link">
+    <inertial>
+      <origin
+        xyz="0.00255763 0.02364054 -0.04880874"
+        rpy="0 0 0" />
+      <mass
+        value="2.500865" />
+      <inertia
+        ixx="0.02511039"
+        ixy="0.000152"
+        ixz="0.00072846"
+        iyy="0.02492308"
+        iyz="-0.00318056"
+        izz="0.00412171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_hip_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_x_link" />
+    <child
+      link="l_hip_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0.5"
+      effort="80"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_knee_y_link">
+    <inertial>
+      <origin
+        xyz="0.00659759 0.00057144 -0.10968726"
+        rpy="0 0 0" />
+      <mass
+        value="1.58922365" />
+      <inertia
+        ixx="0.00966973"
+        ixy="-4.26e-06"
+        ixz="-0.00046463"
+        iyy="0.0094733"
+        iyz="-0.000158"
+        izz="0.00125555" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_knee_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.15"
+        rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh
+          filename="../meshes/l_knee_y_link.STL" /> -->
+        <!-- <capsule radius="0.035" length="0.15"/>  -->
+        <cylinder radius="0.035" length="0.15"/> 
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_knee_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_y_link" />
+    <child
+      link="l_knee_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.2"
+      effort="100"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_ankle_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.02307162" />
+      <inertia
+        ixx="2.87e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="1.54e-06"
+        iyz="-0.0"
+        izz="3.67e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.028"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_y_link.STL" />
+        
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_ankle_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="l_knee_y_link" />
+    <child
+      link="l_ankle_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.134"
+      upper="0.872"
+      effort="10"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_ankle_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00029962 0.0 -0.02615009"
+        rpy="0 0 0" />
+      <mass
+        value="0.36482443" />
+      <inertia
+        ixx="0.00022374"
+        ixy="-0.0"
+        ixz="3.01e-06"
+        iyy="0.00091946"
+        iyz="-0.0"
+        izz="0.00110974" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision name="l_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.0 0.02 -0.02"/>
+      <geometry>
+          <cylinder length="0.16" radius="0.02"/>
+      </geometry>
+    </collision>
+    <collision name="l_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.0 -0.02 -0.02"/>
+      <geometry>
+          <cylinder length="0.16" radius="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_ankle_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_ankle_y_link" />
+    <child
+      link="l_ankle_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.349"
+      upper="0.349"
+      effort="5"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_z_link">
+    <inertial>
+      <origin
+        xyz="-0.09265961 -1.831e-05 0.01333585"
+        rpy="0 0 0" />
+      <mass
+        value="1.23681233" />
+      <inertia
+        ixx="0.00268054"
+        ixy="1.47e-06"
+        ixz="-0.00103486"
+        iyy="0.00310785"
+        iyz="-1.06e-06"
+        izz="0.0019156" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_z_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_hip_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.1 -0.2929"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="r_hip_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00295307 0.04731227 -4.49e-06"
+        rpy="0 0 0" />
+      <mass
+        value="1.74956721" />
+      <inertia
+        ixx="0.0020751"
+        ixy="-0.00023651"
+        ixz="-4.3e-07"
+        iyy="0.00317673"
+        iyz="-1.6e-07"
+        izz="0.00240539" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_x_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_hip_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_z_link" />
+    <child
+      link="r_hip_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.523"
+      effort="38"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_y_link">
+    <inertial>
+      <origin
+        xyz="0.00255763 -0.02364053 -0.0488088"
+        rpy="0 0 0" />
+      <mass
+        value="2.50086544" />
+      <inertia
+        ixx="0.02511043"
+        ixy="-0.000152"
+        ixz="0.00072847"
+        iyy="0.02492311"
+        iyz="0.00318056"
+        izz="0.00412172" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_hip_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_x_link" />
+    <child
+      link="r_hip_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0.5"
+      effort="80"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_knee_y_link">
+    <inertial>
+      <origin
+        xyz="0.00660983 -0.00055456 -0.10963713"
+        rpy="0 0 0" />
+      <mass
+        value="1.5881784" />
+      <inertia
+        ixx="0.00965712"
+        ixy="4.74e-06"
+        ixz="-0.00046284"
+        iyy="0.00946102"
+        iyz="0.00015973"
+        izz="0.00125445" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_knee_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.15"
+        rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh
+          filename="../meshes/r_knee_y_link.STL" /> -->
+          <cylinder radius="0.035" length="0.15"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_knee_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_y_link" />
+    <child
+      link="r_knee_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.2"
+      effort="100"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_ankle_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.02307162" />
+      <inertia
+        ixx="2.87e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="1.54e-06"
+        iyz="-0.0"
+        izz="3.67e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.028"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_y_link.STL" />
+        
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_ankle_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="r_knee_y_link" />
+    <child
+      link="r_ankle_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.134"
+      upper="0.872"
+      effort="10"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_ankle_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00029962 0.0 -0.02615009"
+        rpy="0 0 0" />
+      <mass
+        value="0.36482447" />
+      <inertia
+        ixx="0.00022374"
+        ixy="-0.0"
+        ixz="3.01e-06"
+        iyy="0.00091946"
+        iyz="-0.0"
+        izz="0.00110974" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision name="r_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.0 0.02 -0.02"/>
+      <geometry>
+          <cylinder length="0.16" radius="0.02"/>
+      </geometry>
+    </collision>
+    <collision name="r_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.0 -0.02 -0.02"/>
+      <geometry>
+          <cylinder length="0.16" radius="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_ankle_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_ankle_y_link" />
+    <child
+      link="r_ankle_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.349"
+      upper="0.349"
+      effort="5"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_y_link">
+    <inertial>
+      <origin
+        xyz="-0.00060202 -0.00203254 5.251e-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.3974309" />
+      <inertia
+        ixx="0.00020784"
+        ixy="-3.5e-07"
+        ixz="4.7e-07"
+        iyy="0.00017956"
+        iyz="1.02e-06"
+        izz="0.00021144" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.213 0.1521"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="l_shld_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_x_link">
+    <inertial>
+      <origin
+        xyz="3.499e-05 5.812e-05 -0.06832816"
+        rpy="0 0 0" />
+      <mass
+        value="0.62196805" />
+      <inertia
+        ixx="0.00058015"
+        ixy="1.07e-06"
+        ixz="-2.9e-06"
+        iyy="0.00075075"
+        iyz="-6.6e-07"
+        izz="0.00054158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_y_link" />
+    <child
+      link="l_shld_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.52"
+      upper="2"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_z_link">
+    <inertial>
+      <origin
+        xyz="8.049e-05 -0.00042451 -0.23083883"
+        rpy="0 0 0" />
+      <mass
+        value="0.44911245" />
+      <inertia
+        ixx="0.00074399"
+        ixy="8.2e-07"
+        ixz="-5.5e-07"
+        iyy="0.00073947"
+        iyz="-2.42e-06"
+        izz="0.00023222" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_x_link" />
+    <child
+      link="l_shld_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_elb_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.00061624 -0.10844006"
+        rpy="0 0 0" />
+      <mass
+        value="0.16483285" />
+      <inertia
+        ixx="0.00104575"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="0.0010112"
+        iyz="-1.102e-05"
+        izz="0.00012017" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_elb_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.24505"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_z_link" />
+    <child
+      link="l_elb_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_y_link">
+    <inertial>
+      <origin
+        xyz="-0.00060201 0.00203252 5.251e-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.39742959" />
+      <inertia
+        ixx="0.00020784"
+        ixy="3.4e-07"
+        ixz="4.7e-07"
+        iyy="0.00017956"
+        iyz="-1.02e-06"
+        izz="0.00021144" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.213 0.1521"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="r_shld_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_x_link">
+    <inertial>
+      <origin
+        xyz="3.499e-05 -5.812e-05 -0.06832816"
+        rpy="0 0 0" />
+      <mass
+        value="0.62196805" />
+      <inertia
+        ixx="0.00058015"
+        ixy="-1.07e-06"
+        ixz="-2.9e-06"
+        iyy="0.00075075"
+        iyz="6.6e-07"
+        izz="0.00054158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_y_link" />
+    <child
+      link="r_shld_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-2"
+      upper="0.52"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_z_link">
+    <inertial>
+      <origin
+        xyz="8.059e-05 0.00042451 -0.23083891"
+        rpy="0 0 0" />
+      <mass
+        value="0.44911323" />
+      <inertia
+        ixx="0.00074399"
+        ixy="-8.2e-07"
+        ixz="-5.5e-07"
+        iyy="0.00073947"
+        iyz="2.42e-06"
+        izz="0.00023222" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_x_link" />
+    <child
+      link="r_shld_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_elb_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 -0.00061624 -0.10844006"
+        rpy="0 0 0" />
+      <mass
+        value="0.16483285" />
+      <inertia
+        ixx="0.00104575"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="0.0010112"
+        iyz="1.101e-05"
+        izz="0.00012017" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_elb_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.24505"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_z_link" />
+    <child
+      link="r_elb_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0"
+      effort="27"
+      velocity="20" />
+  </joint>
+
+  <!-- <link name="contact1"/>
+  <link name="contact2"/>
+  <link name="contact3"/>
+  <link name="contact4" />
+  <link name="contact5"/>
+  <link name="contact6"/>
+  <link name="contact7"/>
+  <link name="contact8"/> -->
+
+  <link name="imu_link"/>
+
+  <link name="l_hand_contact"/>
+  <link name="r_hand_contact"/>
+
+  <!-- hand -->
+  <joint name="l_hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.235"/>
+    <parent link="l_elb_y_link"/>
+    <child link="l_hand_contact"/>
+  </joint>
+  <joint name="r_hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.235"/>
+    <parent link="r_elb_y_link"/>
+    <child link="r_hand_contact"/>
+  </joint>
+
+
+  <!-- <joint name="contact1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact1"/>
+  </joint>
+  <joint name="contact2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 -0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact2"/>
+  </joint>
+  <joint name="contact3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact3"/>
+  </joint>
+  <joint name="contact4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 -0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact4"/>
+  </joint>
+  <joint name="contact5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact5"/>
+  </joint>
+  <joint name="contact6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 -0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact6"/>
+  </joint>
+  <joint name="contact7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact7"/>
+  </joint>
+  <joint name="contact8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 -0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact8"/>
+  </joint> -->
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+
+</robot>
\ No newline at end of file

datasets/bot_elf_tempurdf/urdf/bot_elf_12dof.urdf

+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="bot_elf">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00480846 0.00243995 0.00377326"
+        rpy="0 0 0" />
+      <mass
+        value="8.50938212" />
+      <inertia
+        ixx="0.26359734"
+        ixy="0.00011414"
+        ixz="-0.00119988"
+        iyy="0.21214127"
+        iyz="6.45e-06"
+        izz="0.07164624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="l_hip_z_link">
+    <inertial>
+      <origin
+        xyz="-0.09265961 1.831e-05 0.01333585"
+        rpy="0 0 0" />
+      <mass
+        value="1.23681234" />
+      <inertia
+        ixx="0.00268054"
+        ixy="-1.47e-06"
+        ixz="-0.00103486"
+        iyy="0.00310785"
+        iyz="1.06e-06"
+        izz="0.0019156" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_z_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_hip_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.1 -0.2929"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="l_hip_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_hip_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00295307 -0.04731227 4.49e-06"
+        rpy="0 0 0" />
+      <mass
+        value="1.74956721" />
+      <inertia
+        ixx="0.0020751"
+        ixy="0.00023651"
+        ixz="4.3e-07"
+        iyy="0.00317673"
+        iyz="-1.6e-07"
+        izz="0.00240539" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_x_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_hip_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_z_link" />
+    <child
+      link="l_hip_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.523"
+      upper="0.785"
+      effort="38"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_hip_y_link">
+    <inertial>
+      <origin
+        xyz="0.00255763 0.02364054 -0.04880874"
+        rpy="0 0 0" />
+      <mass
+        value="2.500865" />
+      <inertia
+        ixx="0.02511039"
+        ixy="0.000152"
+        ixz="0.00072846"
+        iyy="0.02492308"
+        iyz="-0.00318056"
+        izz="0.00412171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_hip_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_x_link" />
+    <child
+      link="l_hip_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0.5"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_knee_y_link">
+    <inertial>
+      <origin
+        xyz="0.00659759 0.00057144 -0.10968726"
+        rpy="0 0 0" />
+      <mass
+        value="1.58922365" />
+      <inertia
+        ixx="0.00966973"
+        ixy="-4.26e-06"
+        ixz="-0.00046463"
+        iyy="0.0094733"
+        iyz="-0.000158"
+        izz="0.00125555" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_knee_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.15"
+        rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh
+          filename="../meshes/l_knee_y_link.STL" /> -->
+        <cylinder radius="0.035" length="0.15"/> 
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_knee_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_y_link" />
+    <child
+      link="l_knee_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.2"
+      effort="100"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_ankle_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.02307162" />
+      <inertia
+        ixx="2.87e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="1.54e-06"
+        iyz="-0.0"
+        izz="3.67e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.028"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_y_link.STL" />
+        
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_ankle_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="l_knee_y_link" />
+    <child
+      link="l_ankle_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.134"
+      upper="0.872"
+      effort="14"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_ankle_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00029962 0.0 -0.02615009"
+        rpy="0 0 0" />
+      <mass
+        value="0.36482443" />
+      <inertia
+        ixx="0.00022374"
+        ixy="-0.0"
+        ixz="3.01e-06"
+        iyy="0.00091946"
+        iyz="-0.0"
+        izz="0.00110974" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision name="l_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.0 0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.165" radius="0.01"/>
+      </geometry>
+    </collision>
+    <collision name="l_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.0 -0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.165" radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_ankle_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_ankle_y_link" />
+    <child
+      link="l_ankle_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.349"
+      upper="0.349"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_z_link">
+    <inertial>
+      <origin
+        xyz="-0.09265961 -1.831e-05 0.01333585"
+        rpy="0 0 0" />
+      <mass
+        value="1.23681233" />
+      <inertia
+        ixx="0.00268054"
+        ixy="1.47e-06"
+        ixz="-0.00103486"
+        iyy="0.00310785"
+        iyz="-1.06e-06"
+        izz="0.0019156" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_z_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_hip_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.1 -0.2929"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="r_hip_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00295307 0.04731227 -4.49e-06"
+        rpy="0 0 0" />
+      <mass
+        value="1.74956721" />
+      <inertia
+        ixx="0.0020751"
+        ixy="-0.00023651"
+        ixz="-4.3e-07"
+        iyy="0.00317673"
+        iyz="-1.6e-07"
+        izz="0.00240539" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_x_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_hip_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_z_link" />
+    <child
+      link="r_hip_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.523"
+      effort="38"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_y_link">
+    <inertial>
+      <origin
+        xyz="0.00255763 -0.02364053 -0.0488088"
+        rpy="0 0 0" />
+      <mass
+        value="2.50086544" />
+      <inertia
+        ixx="0.02511043"
+        ixy="-0.000152"
+        ixz="0.00072847"
+        iyy="0.02492311"
+        iyz="0.00318056"
+        izz="0.00412172" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_hip_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_x_link" />
+    <child
+      link="r_hip_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0.5"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_knee_y_link">
+    <inertial>
+      <origin
+        xyz="0.00660983 -0.00055456 -0.10963713"
+        rpy="0 0 0" />
+      <mass
+        value="1.5881784" />
+      <inertia
+        ixx="0.00965712"
+        ixy="4.74e-06"
+        ixz="-0.00046284"
+        iyy="0.00946102"
+        iyz="0.00015973"
+        izz="0.00125445" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_knee_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.15"
+        rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh
+          filename="../meshes/r_knee_y_link.STL" /> -->
+          <cylinder radius="0.035" length="0.15"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_knee_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_y_link" />
+    <child
+      link="r_knee_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.2"
+      effort="100"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_ankle_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.02307162" />
+      <inertia
+        ixx="2.87e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="1.54e-06"
+        iyz="-0.0"
+        izz="3.67e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.028"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_y_link.STL" />
+        
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_ankle_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="r_knee_y_link" />
+    <child
+      link="r_ankle_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.134"
+      upper="0.872"
+      effort="14"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_ankle_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00029962 0.0 -0.02615009"
+        rpy="0 0 0" />
+      <mass
+        value="0.36482447" />
+      <inertia
+        ixx="0.00022374"
+        ixy="-0.0"
+        ixz="3.01e-06"
+        iyy="0.00091946"
+        iyz="-0.0"
+        izz="0.00110974" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision name="r_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.0 0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.165" radius="0.01"/>
+      </geometry>
+    </collision>
+    <collision name="r_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.0 -0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.165" radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_ankle_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_ankle_y_link" />
+    <child
+      link="r_ankle_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.349"
+      upper="0.349"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_y_link">
+    <inertial>
+      <origin
+        xyz="-0.00060202 -0.00203254 5.251e-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.3974309" />
+      <inertia
+        ixx="0.00020784"
+        ixy="-3.5e-07"
+        ixz="4.7e-07"
+        iyy="0.00017956"
+        iyz="1.02e-06"
+        izz="0.00021144" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.213 0.1521"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="l_shld_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_x_link">
+    <inertial>
+      <origin
+        xyz="3.499e-05 5.812e-05 -0.06832816"
+        rpy="0 0 0" />
+      <mass
+        value="0.62196805" />
+      <inertia
+        ixx="0.00058015"
+        ixy="1.07e-06"
+        ixz="-2.9e-06"
+        iyy="0.00075075"
+        iyz="-6.6e-07"
+        izz="0.00054158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_x_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_y_link" />
+    <child
+      link="l_shld_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.52"
+      upper="2"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_z_link">
+    <inertial>
+      <origin
+        xyz="8.049e-05 -0.00042451 -0.23083883"
+        rpy="0 0 0" />
+      <mass
+        value="0.44911245" />
+      <inertia
+        ixx="0.00074399"
+        ixy="8.2e-07"
+        ixz="-5.5e-07"
+        iyy="0.00073947"
+        iyz="-2.42e-06"
+        izz="0.00023222" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_z_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_x_link" />
+    <child
+      link="l_shld_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_elb_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.00061624 -0.10844006"
+        rpy="0 0 0" />
+      <mass
+        value="0.16483285" />
+      <inertia
+        ixx="0.00104575"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="0.0010112"
+        iyz="-1.102e-05"
+        izz="0.00012017" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_elb_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.24505"
+      rpy="0 -1.5 0" />
+    <parent
+      link="l_shld_z_link" />
+    <child
+      link="l_elb_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_y_link">
+    <inertial>
+      <origin
+        xyz="-0.00060201 0.00203252 5.251e-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.39742959" />
+      <inertia
+        ixx="0.00020784"
+        ixy="3.4e-07"
+        ixz="4.7e-07"
+        iyy="0.00017956"
+        iyz="-1.02e-06"
+        izz="0.00021144" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 -0.213 0.1521"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="r_shld_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_x_link">
+    <inertial>
+      <origin
+        xyz="3.499e-05 -5.812e-05 -0.06832816"
+        rpy="0 0 0" />
+      <mass
+        value="0.62196805" />
+      <inertia
+        ixx="0.00058015"
+        ixy="-1.07e-06"
+        ixz="-2.9e-06"
+        iyy="0.00075075"
+        iyz="6.6e-07"
+        izz="0.00054158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_x_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_y_link" />
+    <child
+      link="r_shld_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-2"
+      upper="0.52"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_z_link">
+    <inertial>
+      <origin
+        xyz="8.059e-05 0.00042451 -0.23083891"
+        rpy="0 0 0" />
+      <mass
+        value="0.44911323" />
+      <inertia
+        ixx="0.00074399"
+        ixy="-8.2e-07"
+        ixz="-5.5e-07"
+        iyy="0.00073947"
+        iyz="2.42e-06"
+        izz="0.00023222" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_z_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_x_link" />
+    <child
+      link="r_shld_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_elb_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 -0.00061624 -0.10844006"
+        rpy="0 0 0" />
+      <mass
+        value="0.16483285" />
+      <inertia
+        ixx="0.00104575"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="0.0010112"
+        iyz="1.101e-05"
+        izz="0.00012017" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_elb_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.24505"
+      rpy="0 -1.5 0" />
+    <parent
+      link="r_shld_z_link" />
+    <child
+      link="r_elb_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0"
+      effort="27"
+      velocity="20" />
+  </joint>
+
+  <!-- <link name="contact1"/>
+  <link name="contact2"/>
+  <link name="contact3"/>
+  <link name="contact4" />
+  <link name="contact5"/>
+  <link name="contact6"/>
+  <link name="contact7"/>
+  <link name="contact8"/> -->
+
+  <link name="imu_link"/>
+
+  <link name="l_hand_contact"/>
+  <link name="r_hand_contact"/>
+
+  <!-- hand -->
+  <joint name="l_hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.235"/>
+    <parent link="l_elb_y_link"/>
+    <child link="l_hand_contact"/>
+  </joint>
+  <joint name="r_hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.235"/>
+    <parent link="r_elb_y_link"/>
+    <child link="r_hand_contact"/>
+  </joint>
+
+
+  <!-- <joint name="contact1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact1"/>
+  </joint>
+  <joint name="contact2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 -0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact2"/>
+  </joint>
+  <joint name="contact3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact3"/>
+  </joint>
+  <joint name="contact4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 -0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact4"/>
+  </joint>
+  <joint name="contact5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact5"/>
+  </joint>
+  <joint name="contact6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 -0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact6"/>
+  </joint>
+  <joint name="contact7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact7"/>
+  </joint>
+  <joint name="contact8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 -0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact8"/>
+  </joint> -->
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+
+</robot>
\ No newline at end of file

datasets/bot_elf_tempurdf/urdf/bot_elf_20dof.urdf

+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="bot_elf">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00480846 0.00243995 0.00377326"
+        rpy="0 0 0" />
+      <mass
+        value="8.50938212" />
+      <inertia
+        ixx="0.26359734"
+        ixy="0.00011414"
+        ixz="-0.00119988"
+        iyy="0.21214127"
+        iyz="6.45e-06"
+        izz="0.07164624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="l_hip_z_link">
+    <inertial>
+      <origin
+        xyz="-0.09265961 1.831e-05 0.01333585"
+        rpy="0 0 0" />
+      <mass
+        value="1.23681234" />
+      <inertia
+        ixx="0.00268054"
+        ixy="-1.47e-06"
+        ixz="-0.00103486"
+        iyy="0.00310785"
+        iyz="1.06e-06"
+        izz="0.0019156" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_z_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_hip_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.1 -0.2929"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="l_hip_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_hip_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00295307 -0.04731227 4.49e-06"
+        rpy="0 0 0" />
+      <mass
+        value="1.74956721" />
+      <inertia
+        ixx="0.0020751"
+        ixy="0.00023651"
+        ixz="4.3e-07"
+        iyy="0.00317673"
+        iyz="-1.6e-07"
+        izz="0.00240539" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_x_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_hip_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_z_link" />
+    <child
+      link="l_hip_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.523"
+      upper="0.785"
+      effort="38"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_hip_y_link">
+    <inertial>
+      <origin
+        xyz="0.00255763 0.02364054 -0.04880874"
+        rpy="0 0 0" />
+      <mass
+        value="2.500865" />
+      <inertia
+        ixx="0.02511039"
+        ixy="0.000152"
+        ixz="0.00072846"
+        iyy="0.02492308"
+        iyz="-0.00318056"
+        izz="0.00412171" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_hip_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_x_link" />
+    <child
+      link="l_hip_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0.5"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_knee_y_link">
+    <inertial>
+      <origin
+        xyz="0.00659759 0.00057144 -0.10968726"
+        rpy="0 0 0" />
+      <mass
+        value="1.58922365" />
+      <inertia
+        ixx="0.00966973"
+        ixy="-4.26e-06"
+        ixz="-0.00046463"
+        iyy="0.0094733"
+        iyz="-0.000158"
+        izz="0.00125555" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_knee_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.15"
+        rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh
+          filename="../meshes/l_knee_y_link.STL" /> -->
+        <cylinder radius="0.035" length="0.15"/> 
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_knee_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_y_link" />
+    <child
+      link="l_knee_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.2"
+      effort="100"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_ankle_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.02307162" />
+      <inertia
+        ixx="2.87e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="1.54e-06"
+        iyz="-0.0"
+        izz="3.67e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.028"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_y_link.STL" />
+        
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_ankle_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="l_knee_y_link" />
+    <child
+      link="l_ankle_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.134"
+      upper="0.872"
+      effort="14"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_ankle_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00029962 0.0 -0.02615009"
+        rpy="0 0 0" />
+      <mass
+        value="0.36482443" />
+      <inertia
+        ixx="0.00022374"
+        ixy="-0.0"
+        ixz="3.01e-06"
+        iyy="0.00091946"
+        iyz="-0.0"
+        izz="0.00110974" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision name="l_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.0 0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.165" radius="0.01"/>
+      </geometry>
+    </collision>
+    <collision name="l_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.0 -0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.165" radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_ankle_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_ankle_y_link" />
+    <child
+      link="l_ankle_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.349"
+      upper="0.349"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_z_link">
+    <inertial>
+      <origin
+        xyz="-0.09265961 -1.831e-05 0.01333585"
+        rpy="0 0 0" />
+      <mass
+        value="1.23681233" />
+      <inertia
+        ixx="0.00268054"
+        ixy="1.47e-06"
+        ixz="-0.00103486"
+        iyy="0.00310785"
+        iyz="-1.06e-06"
+        izz="0.0019156" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_z_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_hip_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.1 -0.2929"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="r_hip_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00295307 0.04731227 -4.49e-06"
+        rpy="0 0 0" />
+      <mass
+        value="1.74956721" />
+      <inertia
+        ixx="0.0020751"
+        ixy="-0.00023651"
+        ixz="-4.3e-07"
+        iyy="0.00317673"
+        iyz="-1.6e-07"
+        izz="0.00240539" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_x_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_hip_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_z_link" />
+    <child
+      link="r_hip_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.523"
+      effort="38"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_y_link">
+    <inertial>
+      <origin
+        xyz="0.00255763 -0.02364053 -0.0488088"
+        rpy="0 0 0" />
+      <mass
+        value="2.50086544" />
+      <inertia
+        ixx="0.02511043"
+        ixy="-0.000152"
+        ixz="0.00072847"
+        iyy="0.02492311"
+        iyz="0.00318056"
+        izz="0.00412172" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_hip_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_x_link" />
+    <child
+      link="r_hip_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0.5"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_knee_y_link">
+    <inertial>
+      <origin
+        xyz="0.00660983 -0.00055456 -0.10963713"
+        rpy="0 0 0" />
+      <mass
+        value="1.5881784" />
+      <inertia
+        ixx="0.00965712"
+        ixy="4.74e-06"
+        ixz="-0.00046284"
+        iyy="0.00946102"
+        iyz="0.00015973"
+        izz="0.00125445" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_knee_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.15"
+        rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh
+          filename="../meshes/r_knee_y_link.STL" /> -->
+          <cylinder radius="0.035" length="0.15"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_knee_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_y_link" />
+    <child
+      link="r_knee_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.2"
+      effort="100"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_ankle_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.02307162" />
+      <inertia
+        ixx="2.87e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="1.54e-06"
+        iyz="-0.0"
+        izz="3.67e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 -0.028"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_y_link.STL" />
+        
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_ankle_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="r_knee_y_link" />
+    <child
+      link="r_ankle_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.134"
+      upper="0.872"
+      effort="14"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_ankle_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00029962 0.0 -0.02615009"
+        rpy="0 0 0" />
+      <mass
+        value="0.36482447" />
+      <inertia
+        ixx="0.00022374"
+        ixy="-0.0"
+        ixz="3.01e-06"
+        iyy="0.00091946"
+        iyz="-0.0"
+        izz="0.00110974" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision name="r_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.0 0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.165" radius="0.01"/>
+      </geometry>
+    </collision>
+    <collision name="r_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.0 -0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.165" radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_ankle_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_ankle_y_link" />
+    <child
+      link="r_ankle_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.349"
+      upper="0.349"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_y_link">
+    <inertial>
+      <origin
+        xyz="-0.00060202 -0.00203254 5.251e-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.3974309" />
+      <inertia
+        ixx="0.00020784"
+        ixy="-3.5e-07"
+        ixz="4.7e-07"
+        iyy="0.00017956"
+        iyz="1.02e-06"
+        izz="0.00021144" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.213 0.1521"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="l_shld_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_x_link">
+    <inertial>
+      <origin
+        xyz="3.499e-05 5.812e-05 -0.06832816"
+        rpy="0 0 0" />
+      <mass
+        value="0.62196805" />
+      <inertia
+        ixx="0.00058015"
+        ixy="1.07e-06"
+        ixz="-2.9e-06"
+        iyy="0.00075075"
+        iyz="-6.6e-07"
+        izz="0.00054158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_y_link" />
+    <child
+      link="l_shld_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.52"
+      upper="2"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_z_link">
+    <inertial>
+      <origin
+        xyz="8.049e-05 -0.00042451 -0.23083883"
+        rpy="0 0 0" />
+      <mass
+        value="0.44911245" />
+      <inertia
+        ixx="0.00074399"
+        ixy="8.2e-07"
+        ixz="-5.5e-07"
+        iyy="0.00073947"
+        iyz="-2.42e-06"
+        izz="0.00023222" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_x_link" />
+    <child
+      link="l_shld_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_elb_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.00061624 -0.10844006"
+        rpy="0 0 0" />
+      <mass
+        value="0.16483285" />
+      <inertia
+        ixx="0.00104575"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="0.0010112"
+        iyz="-1.102e-05"
+        izz="0.00012017" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_elb_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.24505"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_z_link" />
+    <child
+      link="l_elb_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_y_link">
+    <inertial>
+      <origin
+        xyz="-0.00060201 0.00203252 5.251e-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.39742959" />
+      <inertia
+        ixx="0.00020784"
+        ixy="3.4e-07"
+        ixz="4.7e-07"
+        iyy="0.00017956"
+        iyz="-1.02e-06"
+        izz="0.00021144" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.213 0.1521"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="r_shld_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_x_link">
+    <inertial>
+      <origin
+        xyz="3.499e-05 -5.812e-05 -0.06832816"
+        rpy="0 0 0" />
+      <mass
+        value="0.62196805" />
+      <inertia
+        ixx="0.00058015"
+        ixy="-1.07e-06"
+        ixz="-2.9e-06"
+        iyy="0.00075075"
+        iyz="6.6e-07"
+        izz="0.00054158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_y_link" />
+    <child
+      link="r_shld_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-2"
+      upper="0.52"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_z_link">
+    <inertial>
+      <origin
+        xyz="8.059e-05 0.00042451 -0.23083891"
+        rpy="0 0 0" />
+      <mass
+        value="0.44911323" />
+      <inertia
+        ixx="0.00074399"
+        ixy="-8.2e-07"
+        ixz="-5.5e-07"
+        iyy="0.00073947"
+        iyz="2.42e-06"
+        izz="0.00023222" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_x_link" />
+    <child
+      link="r_shld_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.5"
+      upper="1.5"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_elb_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 -0.00061624 -0.10844006"
+        rpy="0 0 0" />
+      <mass
+        value="0.16483285" />
+      <inertia
+        ixx="0.00104575"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="0.0010112"
+        iyz="1.101e-05"
+        izz="0.00012017" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_elb_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.24505"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_z_link" />
+    <child
+      link="r_elb_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="0"
+      effort="27"
+      velocity="20" />
+  </joint>
+
+  <!-- <link name="contact1"/>
+  <link name="contact2"/>
+  <link name="contact3"/>
+  <link name="contact4" />
+  <link name="contact5"/>
+  <link name="contact6"/>
+  <link name="contact7"/>
+  <link name="contact8"/> -->
+
+  <link name="imu_link"/>
+
+  <link name="l_hand_contact"/>
+  <link name="r_hand_contact"/>
+
+  <!-- hand -->
+  <joint name="l_hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.235"/>
+    <parent link="l_elb_y_link"/>
+    <child link="l_hand_contact"/>
+  </joint>
+  <joint name="r_hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.235"/>
+    <parent link="r_elb_y_link"/>
+    <child link="r_hand_contact"/>
+  </joint>
+
+
+  <!-- <joint name="contact1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact1"/>
+  </joint>
+  <joint name="contact2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 -0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact2"/>
+  </joint>
+  <joint name="contact3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact3"/>
+  </joint>
+  <joint name="contact4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 -0.043 -0.029"/>
+    <parent link="l_ankle_x_link"/>
+    <child link="contact4"/>
+  </joint>
+  <joint name="contact5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact5"/>
+  </joint>
+  <joint name="contact6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 -0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact6"/>
+  </joint>
+  <joint name="contact7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact7"/>
+  </joint>
+  <joint name="contact8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.09 -0.043 -0.029"/>
+    <parent link="r_ankle_x_link"/>
+    <child link="contact8"/>
+  </joint> -->
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+
+</robot>
\ No newline at end of file

datasets/hopturn/hopturn.txt

+{
+"LoopMode": "Wrap",
+"FrameDuration": 0.041666666666666664,
+"EnableCycleOffsetPosition": true,
+"EnableCycleOffsetRotation": true,
+"MotionWeight": 1,
+
+"Frames":
+[
+  [0.00000, 0.00000, 0.33664, -0.00000, -0.00000, 0.00000, 1.00000, 0.03194, 0.78700, -1.48894, -0.08535, 0.80080, -1.51533, 0.03109, 0.75470, -1.42664, -0.08302, 0.76849, -1.45315, 0.15776, -0.12481, -0.29699, 0.15774, 0.10481, -0.29702, -0.20824, -0.12480, -0.30523, -0.20826, 0.10480, -0.30526, 0.00000, 0.00408, -0.12840, 0.00000, 0.00000, -0.29563, 0.10464, 0.44520, -0.83136, 0.10272, 0.54360, -0.77664, -0.14160, 0.38592, -0.73296, -0.14304, 0.60168, -0.89184, -0.00370, 0.02690, 0.10606, -0.03973, 0.03932, 0.11548, -0.00179, -0.04556, 0.10773, -0.04073, -0.03280, 0.11275],
+  [0.00000, 0.00017, 0.33129, -0.00000, -0.00000, -0.00525, 0.99999, 0.03630, 0.80555, -1.52358, -0.08107, 0.82345, -1.54769, 0.02519, 0.77078, -1.45718, -0.08898, 0.79356, -1.49031, 0.15761, -0.12369, -0.29257, 0.15608, 0.10645, -0.29220, -0.20832, -0.12670, -0.30074, -0.20996, 0.10343, -0.30056, 0.00014, 0.00912, -0.28608, 0.00000, 0.00000, -0.58856, 0.25584, 0.97800, -1.82400, 0.22752, 1.20864, -1.70136, -0.31656, 0.83280, -1.60056, -0.34584, 1.32912, -1.95312, -0.00715, 0.06274, 0.23838, -0.08663, 0.08399, 0.26112, -0.00025, -0.09748, 0.24244, -0.08642, -0.07544, 0.25488],
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+]
+}
\ No newline at end of file

datasets/keypoint_datasets/ai4animation/LICENSE.txt

+The motion capture data is available only under the terms of the Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) license.
+https://creativecommons.org/licenses/by-nc/4.0/legalcode
+https://github.com/sebastianstarke/AI4Animation
+

datasets/keypoint_datasets/ai4animation/dog_clips_info.txt

+original_name	 	new_name		trim_start		trim_end
+D1_001_KAN01_001 	dog_sit_stand00		
+D1_003_KAN01_001	dog_sit00
+D1_004_KAN01_001	dog_sit_stand01
+D1_005_KAN01_001	dog_sit_stand02
+D1_006_KAN01_001	dog_sit_stand03
+D1_006_KAN01_002	dog_sit_stand04
+D1_007_KAN01_001**	dog_walk00		1.53 (90)
+D1_008_KAN01_001**	dog_walk01		4.87 (290)
+D1_008_KAN01_002**	dog_walk02		6.60 (394)
+D1_009_KAN01_001**	dog_walk03
+D1_009_KAN01_002**	dog_walk04		3.90 (232)
+D1_010_KAN01_001**	dog_run00		6.65 (397)
+D1_010_KAN01_002**	dog_run01
+D1_010_KAN01_003**	dog_run02
+D1_010_KAN01_004*	dog_run03
+D1_013_KAN01_001	dog_sit01
+D1_025_KAN01_001**	dog_walk05		3.37 (200)		9.10 (545)
+D1_031_KAN01_001**	dog_run04		8.15 (487)		11.95 (716)
+D1_045_KAN01_001**	dog_walk06		2.87 (170)		6.57 (392)
+D1_047_KAN01_001**	dog_turn00		5.47 (326)		12.47 (747)
+D1_047z_KAN01_002*	dog_walk_run00
+D1_047z_KAN01_003	dog_hop00
+D1_047z_KAN01_004	dog_hop01
+D1_047z_KAN01_005	dog_walk07
+D1_049_KAN01_001	dog_walk08
+D1_053_KAN01_001**	dog_walk09
+D1_053_KAN01_002*	dog_walk10
+D1_055_KAN01_001	dog_walk_run01
+D1_057_KAN01_001*	dog_jump00		15.68 (940)		19.12 (1146)
+D1_058_KAN01_001*	dog_jump01		25.68 (1539)		29.20 (1751)
+D1_059_KAN01_001	dog_beg00
+D1_061_KAN01_001	dog_walk_run02
+D1_061z_KAN01_002	dog_walk11
+D1_061z_KAN01_003	dog_walk12
+D1_071_KAN02_002	dog_sit02
+D1_073_KAN02_002*	dog_walk13
+D1_086_KAN02_001	dog_beg01
+D1_ex01_KAN01_001*	dog_walk14
+D1_ex02_KAN02_001	dog_sit_walk00
+D1_ex03_KAN02_001	dog_sit_walk01
+D1_ex03_KAN02_003	dog_walk15
+D1_ex03_KAN02_006	dog_jump_down0		33.90 (2033)		36.10 (2165)
+D1_ex03_KAN02_012	dog_walk16
+D1_ex03_KAN02_013	dog_shake0
+D1_ex03_KAN02_014	dog_walk17
+D1_ex04_KAN02_001*	dog_stepup_jump0	5.65 (337)		12.58 (754)
+D1_ex04_KAN02_002*	dog_stepup_jump1	4.20 (250)		8.38 (502)
+D1_ex04_KAN02_003*	dog_stepup_jump2
+D1_ex04_KAN02_004*	dog_stepup_jump3	7.98 (477)
+D1_ex05_KAN02_001	dog_sit_walk02
+D1_ex06_KAN02_001	dog_walk18
\ No newline at end of file

datasets/keypoint_datasets/ai4animation/dog_pace_joint_pos.txt

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datasets/keypoint_datasets/ai4animation/dog_pace_pose.txt

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datasets/keypoint_datasets/ai4animation/dog_trot_joint_pos.txt

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datasets/keypoint_datasets/ai4animation/dog_trot_pose.txt

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datasets/mocap_motions/leftturn0.txt

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+}
\ No newline at end of file

datasets/mocap_motions/pace0.txt

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+}
\ No newline at end of file

datasets/mocap_motions/rightturn0.txt

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+}
\ No newline at end of file

datasets/mocap_motions/trot0.txt

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+}
\ No newline at end of file

datasets/mocap_motions/trot1.txt

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+}
\ No newline at end of file

datasets/mocap_motions_a1/canter0.txt

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+]
+}
\ No newline at end of file

datasets/mocap_motions_a1/canter1.txt

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+]
+}
\ No newline at end of file

datasets/mocap_motions_a1/canter2.txt

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+]
+}
\ No newline at end of file

datasets/mocap_motions_a1/left_turn0.txt

+{
+"LoopMode": "Wrap",
+"FrameDuration": 0.01677,
+"EnableCycleOffsetPosition": true,
+"EnableCycleOffsetRotation": true,
+"MotionWeight": 1.5,
+
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+]
+}
\ No newline at end of file

datasets/mocap_motions_a1/left_turn1.txt

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+]
+}
\ No newline at end of file

datasets/mocap_motions_a1/pace0.txt

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+]
+}
\ No newline at end of file

datasets/mocap_motions_a1/right_turn0.txt

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+}
\ No newline at end of file

datasets/mocap_motions_a1/right_turn1.txt

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+}
\ No newline at end of file

datasets/mocap_motions_a1/trot0.txt

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+}
\ No newline at end of file

datasets/mocap_motions_a1/trot1.txt

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+  [3.32921, -0.22330, 0.30985, -0.04022, 0.01997, 0.07988, 0.99579, -0.08623, -0.14812, -1.16881, -0.05597, 1.09079, -1.63316, 0.11750, 0.86694, -1.51653, 0.12063, 0.86691, -1.83113, 0.40610, 0.11037, -0.25444, 0.10884, -0.14666, -0.25848, -0.21450, 0.16531, -0.27674, -0.17115, -0.10214, -0.25191, 1.29203, -0.10890, 0.37406, -0.41218, 1.05287, -0.44716, 3.07739, 5.32401, -1.65917, 0.30684, 1.92502, 2.08647, 0.71036, 0.62326, 3.60149, -0.37372, -7.81502, 5.20535, -1.26452, 0.74950, -0.59770, -0.87281, 0.07703, -0.07672, -0.77057, 0.24659, -0.30289, 1.37468, -0.01572, -0.66135],
+  [3.35109, -0.22116, 0.31524, -0.04444, 0.02833, 0.07586, 0.99573, -0.03462, -0.05883, -1.19663, -0.05082, 1.12307, -1.59817, 0.12942, 0.87739, -1.45613, 0.11436, 0.73586, -1.74384, 0.38490, 0.12294, -0.26447, 0.09420, -0.14537, -0.25977, -0.22742, 0.16944, -0.28182, -0.14809, -0.10240, -0.26300, 1.27297, -0.09636, 0.35319, -0.27863, 1.16467, -0.46026, 1.71105, 5.76025, -1.20176, -0.17345, 1.08802, 2.01137, 0.49142, 0.13380, 3.83660, -0.33814, -8.07343, 6.27450, -1.46712, 0.44545, -0.73080, -0.65075, -0.04890, -0.05486, -0.69581, 0.19193, -0.32685, 1.45385, -0.01376, -0.66939],
+  [3.37270, -0.21903, 0.31991, -0.04761, 0.03770, 0.07164, 0.99558, -0.00593, 0.03777, -1.21678, -0.05373, 1.14132, -1.56444, 0.13766, 0.87964, -1.39179, 0.10869, 0.60047, -1.63861, 0.36029, 0.13041, -0.27672, 0.08329, -0.14619, -0.26069, -0.23909, 0.17266, -0.28730, -0.12371, -0.10263, -0.27423, 1.24628, -0.12842, 0.28925, 0.02857, 1.34689, -0.75142, -0.31237, 6.60468, -7.41929, -0.39957, 1.03972, 0.26110, 0.08440, -0.44315, 4.18045, -0.43490, -8.43372, 7.07858, -1.25336, -0.08345, 0.24795, -0.32330, -0.09886, 0.12540, -0.60585, 0.08159, -0.39911, 1.58931, -0.05676, -0.58881],
+  [3.39397, -0.21776, 0.32321, -0.04841, 0.04866, 0.06481, 0.99553, -0.01116, 0.14853, -1.34121, -0.06043, 1.15875, -1.56006, 0.13907, 0.87220, -1.32168, 0.10140, 0.45903, -1.51991, 0.33928, 0.12901, -0.27257, 0.07786, -0.14785, -0.25859, -0.24925, 0.17403, -0.29399, -0.09706, -0.10358, -0.28410, 1.22509, -0.07766, 0.26455, 0.00741, 1.17882, -0.51792, 1.44360, 2.50403, -2.88539, -0.47036, -1.15307, -0.04780, 0.09029, -0.19106, 3.45288, -0.43180, -7.43990, 6.04353, -0.46566, 0.38997, 0.27859, 0.31453, -0.12925, -0.06619, -0.57040, 0.06808, -0.28205, 1.50501, -0.09164, -0.30282],
+  [3.41482, -0.21604, 0.32560, -0.04920, 0.05829, 0.06001, 0.99528, 0.01304, 0.19052, -1.38959, -0.06832, 1.13942, -1.56086, 0.14059, 0.86900, -1.26378, 0.09416, 0.33426, -1.41856, 0.33147, 0.13555, -0.26789, 0.08314, -0.15002, -0.25970, -0.25882, 0.17517, -0.29872, -0.07182, -0.10512, -0.28918, 1.15888, -0.04592, 0.27613, 0.06831, 0.74695, -0.38839, 0.44651, 3.06468, -1.62035, 0.06571, -0.56008, -3.77623, -0.09931, 0.02405, 3.48695, -0.65798, -6.14039, 4.49323, -0.70677, 0.12227, -0.09634, 0.82510, 0.03599, 0.27430, -0.65887, 0.00455, -0.25748, 1.32877, -0.18598, -0.00975],
+  [3.43459, -0.21410, 0.32788, -0.04920, 0.06439, 0.05643, 0.99511, 0.02053, 0.24192, -1.41677, -0.06722, 1.13002, -1.62419, 0.13892, 0.86940, -1.20530, 0.08312, 0.23129, -1.34320, 0.31961, 0.13760, -0.26951, 0.09698, -0.14942, -0.25510, -0.26987, 0.17525, -0.30304, -0.04954, -0.10824, -0.28935, 1.09433, -0.05157, 0.20135, 0.22094, 0.66696, -0.30649, -0.58896, 4.29758, -2.75869, 0.74565, -0.37402, -8.49876, -0.35093, 0.17806, 3.19160, -0.94144, -4.53513, 2.75029, -0.94870, -0.15849, -0.09919, 1.52612, 0.23919, 0.81053, -0.66514, -0.08303, -0.21994, 1.04323, -0.28191, 0.20766]
+]
+}
\ No newline at end of file

datasets/retarget_config.py

+import numpy as np
+from legged_gym import LEGGED_GYM_ROOT_DIR
+
+
+VISUALIZE_RETARGETING = True
+
+URDF_FILENAME = "{LEGGED_GYM_ROOT_DIR}/resources/robots/a1/urdf/a1.urdf".format(LEGGED_GYM_ROOT_DIR=LEGGED_GYM_ROOT_DIR)
+
+OUTPUT_DIR = "{LEGGED_GYM_ROOT_DIR}/../datasets/mocap_motions_a1".format(LEGGED_GYM_ROOT_DIR=LEGGED_GYM_ROOT_DIR)
+
+REF_POS_SCALE = 0.825 # 缩放系数,如果遇到关节限位异常，尝试将此数变小
+INIT_POS = np.array([0, 0, 0.32]) # a1
+INIT_ROT = np.array([0, 0, 0, 1.0])
+
+SIM_TOE_JOINT_IDS = [6, 11, 16, 21]
+SIM_HIP_JOINT_IDS = [2, 7, 12, 17]
+SIM_ROOT_OFFSET = np.array([0, 0, -0.04])
+SIM_TOE_OFFSET_LOCAL = [
+    np.array([0.0, -0.06, 0.0]),
+    np.array([0.0, 0.06, 0.0]),
+    np.array([0.0, -0.06, 0.0]),
+    np.array([0.0, 0.06, 0.0])
+]
+TOE_HEIGHT_OFFSET = 0.02
+
+DEFAULT_JOINT_POSE = np.array([0.1, 0.8, -1.5, 
+                               0.1, 1.0, -1.5, 
+                               -0.1, 0.8, -1.5, 
+                               -0.10, 1.0, -1.5])
+JOINT_DAMPING = [0.1, 0.05, 0.01,
+                 0.1, 0.05, 0.01,
+                 0.1, 0.05, 0.01,
+                 0.1, 0.05, 0.01]
+
+FORWARD_DIR_OFFSET = np.array([0, 0, 0])
+
+FR_FOOT_NAME = "FR_foot"
+FL_FOOT_NAME = "FL_foot"
+HR_FOOT_NAME = "RR_foot"
+HL_FOOT_NAME = "RL_foot"
+
+MOCAP_MOTIONS = [
+    # Output motion name, input file, frame start, frame end, motion weight.
+    ["pace0", "datasets/keypoint_datasets/ai4animation/dog_walk00_joint_pos.txt", 162, 201, 1],
+    ["pace1", "datasets/keypoint_datasets/ai4animation/dog_walk00_joint_pos.txt", 201, 400, 1],
+    ["pace2", "datasets/keypoint_datasets/ai4animation/dog_walk00_joint_pos.txt", 400, 600, 1],
+    ["trot0", "datasets/keypoint_datasets/ai4animation/dog_walk03_joint_pos.txt", 448, 481, 1],
+    ["trot1", "datasets/keypoint_datasets/ai4animation/dog_walk03_joint_pos.txt", 400, 600, 1],
+    ["trot2", "datasets/keypoint_datasets/ai4animation/dog_run04_joint_pos.txt", 480, 663, 1],
+    ["canter0", "datasets/keypoint_datasets/ai4animation/dog_run00_joint_pos.txt", 430, 480, 1],
+    ["canter1", "datasets/keypoint_datasets/ai4animation/dog_run00_joint_pos.txt", 380, 430, 1],
+    ["canter2", "datasets/keypoint_datasets/ai4animation/dog_run00_joint_pos.txt", 480, 566, 1],
+    ["right_turn0", "datasets/keypoint_datasets/ai4animation/dog_walk09_joint_pos.txt", 1085, 1124, 1.5],
+    ["right_turn1", "datasets/keypoint_datasets/ai4animation/dog_walk09_joint_pos.txt", 560, 670, 1.5],
+    ["left_turn0", "datasets/keypoint_datasets/ai4animation/dog_walk09_joint_pos.txt", 2404, 2450, 1.5],
+    ["left_turn1", "datasets/keypoint_datasets/ai4animation/dog_walk09_joint_pos.txt", 120, 220, 1.5]
+]

datasets/retarget_kp_motions.py

+"""Retarget motions from keypoint (.txt) files."""
+
+import os
+import inspect
+
+import time
+
+import numpy as np
+from pyquaternion import Quaternion
+
+import isaacgym
+from legged_gym.envs import *
+import legged_gym.utils.kinematics.urdf as pk
+
+from rsl_rl.datasets import pose3d
+from pybullet_utils import transformations
+import pybullet
+import pybullet_data as pd
+
+from retarget_utils import *
+import retarget_config as config
+
+POS_SIZE = 3
+ROT_SIZE = 4
+JOINT_POS_SIZE = 12
+TAR_TOE_POS_LOCAL_SIZE = 12
+LINEAR_VEL_SIZE = 3
+ANGULAR_VEL_SIZE = 3
+JOINT_VEL_SIZE = 12
+TAR_TOE_VEL_LOCAL_SIZE = 12
+
+DEFAULT_ROT = np.array([0, 0, 0, 1])
+FORWARD_DIR = np.array([1, 0, 0])
+
+GROUND_URDF_FILENAME = "plane_implicit.urdf"
+
+# reference motion
+FRAME_DURATION = 0.01677
+REF_COORD_ROT = transformations.quaternion_from_euler(0.5 * np.pi, 0, 0)  # 坐标系变换
+REF_POS_OFFSET = np.array([0, 0, 0])
+REF_ROOT_ROT = transformations.quaternion_from_euler(0, 0, 0.47 * np.pi)  #
+
+REF_PELVIS_JOINT_ID = 0
+REF_NECK_JOINT_ID = 3
+
+REF_TOE_JOINT_IDS = [10, 15, 19, 23]
+REF_HIP_JOINT_IDS = [6, 11, 16, 20]
+
+chain_foot_fl = pk.build_serial_chain_from_urdf(
+    open(config.URDF_FILENAME).read(), config.FL_FOOT_NAME
+)
+chain_foot_fr = pk.build_serial_chain_from_urdf(
+    open(config.URDF_FILENAME).read(), config.FR_FOOT_NAME
+)
+chain_foot_rl = pk.build_serial_chain_from_urdf(
+    open(config.URDF_FILENAME).read(), config.HL_FOOT_NAME
+)
+chain_foot_rr = pk.build_serial_chain_from_urdf(
+    open(config.URDF_FILENAME).read(), config.HR_FOOT_NAME
+)
+
+
+def build_markers(num_markers):
+    marker_radius = 0.02
+
+    markers = []
+    for i in range(num_markers):
+        if (
+            (i == REF_NECK_JOINT_ID)
+            or (i == REF_PELVIS_JOINT_ID)
+            or (i in REF_HIP_JOINT_IDS)
+        ):
+            col = [0, 0, 1, 1]
+        elif i in REF_TOE_JOINT_IDS:
+            col = [1, 0, 0, 1]
+        else:
+            col = [0, 1, 0, 1]
+
+        virtual_shape_id = pybullet.createVisualShape(
+            shapeType=pybullet.GEOM_SPHERE, radius=marker_radius, rgbaColor=col
+        )
+        body_id = pybullet.createMultiBody(
+            baseMass=0,
+            baseCollisionShapeIndex=-1,
+            baseVisualShapeIndex=virtual_shape_id,
+            basePosition=[0, 0, 0],
+            useMaximalCoordinates=True,
+        )
+        markers.append(body_id)
+
+    return markers
+
+
+def get_joint_pose(pose):
+    return pose[(POS_SIZE + ROT_SIZE) : (POS_SIZE + ROT_SIZE + JOINT_POS_SIZE)]
+
+
+def get_tar_toe_pos_local(pose):
+    return pose[
+        (POS_SIZE + ROT_SIZE + JOINT_POS_SIZE) : (
+            POS_SIZE + ROT_SIZE + JOINT_POS_SIZE + TAR_TOE_POS_LOCAL_SIZE
+        )
+    ]
+
+
+def get_linear_vel(pose):
+    return pose[
+        (POS_SIZE + ROT_SIZE + JOINT_POS_SIZE + TAR_TOE_POS_LOCAL_SIZE) : (
+            POS_SIZE
+            + ROT_SIZE
+            + JOINT_POS_SIZE
+            + TAR_TOE_POS_LOCAL_SIZE
+            + LINEAR_VEL_SIZE
+        )
+    ]
+
+
+def get_angular_vel(pose):
+    return pose[
+        (
+            POS_SIZE
+            + ROT_SIZE
+            + JOINT_POS_SIZE
+            + TAR_TOE_POS_LOCAL_SIZE
+            + LINEAR_VEL_SIZE
+        ) : (
+            POS_SIZE
+            + ROT_SIZE
+            + JOINT_POS_SIZE
+            + TAR_TOE_POS_LOCAL_SIZE
+            + LINEAR_VEL_SIZE
+            + ANGULAR_VEL_SIZE
+        )
+    ]
+
+
+def get_joint_vel(pose):
+    return pose[
+        (
+            POS_SIZE
+            + ROT_SIZE
+            + JOINT_POS_SIZE
+            + TAR_TOE_POS_LOCAL_SIZE
+            + LINEAR_VEL_SIZE
+            + ANGULAR_VEL_SIZE
+        ) : (
+            POS_SIZE
+            + ROT_SIZE
+            + JOINT_POS_SIZE
+            + TAR_TOE_POS_LOCAL_SIZE
+            + LINEAR_VEL_SIZE
+            + ANGULAR_VEL_SIZE
+            + JOINT_VEL_SIZE
+        )
+    ]
+
+
+def get_tar_toe_vel_local(pose):
+    return pose[
+        (
+            POS_SIZE
+            + ROT_SIZE
+            + JOINT_POS_SIZE
+            + TAR_TOE_POS_LOCAL_SIZE
+            + LINEAR_VEL_SIZE
+            + ANGULAR_VEL_SIZE
+            + JOINT_VEL_SIZE
+        ) : (
+            POS_SIZE
+            + ROT_SIZE
+            + JOINT_POS_SIZE
+            + TAR_TOE_POS_LOCAL_SIZE
+            + LINEAR_VEL_SIZE
+            + ANGULAR_VEL_SIZE
+            + JOINT_VEL_SIZE
+            + TAR_TOE_VEL_LOCAL_SIZE
+        )
+    ]
+
+
+def set_root_pos(root_pos, pose):
+    pose[0:POS_SIZE] = root_pos
+    return
+
+
+def set_root_rot(root_rot, pose):
+    pose[POS_SIZE : (POS_SIZE + ROT_SIZE)] = root_rot
+    return
+
+
+def set_joint_pose(joint_pose, pose):
+    pose[(POS_SIZE + ROT_SIZE) :] = joint_pose
+    return
+
+
+def set_maker_pos(marker_pos, marker_ids):
+    num_markers = len(marker_ids)
+    assert num_markers == marker_pos.shape[0]
+
+    for i in range(num_markers):
+        curr_id = marker_ids[i]
+        curr_pos = marker_pos[i]
+
+        pybullet.resetBasePositionAndOrientation(curr_id, curr_pos, DEFAULT_ROT)
+
+    return
+
+
+def set_foot_marker_pos(marker_pos, robot_idx, unique_ids=None):
+    marker_pos = marker_pos.reshape(4, 3)
+    new_unique_ids = []
+
+    for foot_pos, unique_id in zip(marker_pos, unique_ids):
+        if unique_id is not None:
+            new_unique_ids.append(
+                pybullet.addUserDebugLine(
+                    lineFromXYZ=foot_pos - np.array([0.0, 0.0, 0.04]),
+                    lineToXYZ=foot_pos + np.array([0.0, 0.0, 0.04]),
+                    lineWidth=4,
+                    replaceItemUniqueId=unique_id,
+                    lineColorRGB=[1, 0, 0],
+                    parentObjectUniqueId=robot_idx,
+                )
+            )
+        else:
+            new_unique_ids.append(
+                pybullet.addUserDebugLine(
+                    lineFromXYZ=foot_pos - np.array([0.0, 0.0, 0.04]),
+                    lineToXYZ=foot_pos + np.array([0.0, 0.0, 0.04]),
+                    lineWidth=4,
+                    lineColorRGB=[1, 0, 0],
+                    parentObjectUniqueId=robot_idx,
+                )
+            )
+    return new_unique_ids
+
+
+def process_ref_joint_pos_data(joint_pos):
+    proc_pos = joint_pos.copy()
+    num_pos = joint_pos.shape[0]
+
+    for i in range(num_pos):
+        curr_pos = proc_pos[i]
+        curr_pos = pose3d.QuaternionRotatePoint(curr_pos, REF_COORD_ROT)
+        curr_pos = pose3d.QuaternionRotatePoint(curr_pos, REF_ROOT_ROT)
+        curr_pos = curr_pos * config.REF_POS_SCALE + REF_POS_OFFSET
+        proc_pos[i] = curr_pos
+
+    return proc_pos
+
+
+def retarget_root_pose(ref_joint_pos):
+    pelvis_pos = ref_joint_pos[REF_PELVIS_JOINT_ID]
+    neck_pos = ref_joint_pos[REF_NECK_JOINT_ID]
+
+    left_shoulder_pos = ref_joint_pos[REF_HIP_JOINT_IDS[0]]
+    right_shoulder_pos = ref_joint_pos[REF_HIP_JOINT_IDS[1]]
+    left_hip_pos = ref_joint_pos[REF_HIP_JOINT_IDS[2]]
+    right_hip_pos = ref_joint_pos[REF_HIP_JOINT_IDS[3]]
+
+    forward_dir = neck_pos - pelvis_pos
+    forward_dir += config.FORWARD_DIR_OFFSET
+    forward_dir = forward_dir / np.linalg.norm(forward_dir)
+
+    delta_shoulder = left_shoulder_pos - right_shoulder_pos
+    delta_hip = left_hip_pos - right_hip_pos
+    dir_shoulder = delta_shoulder / np.linalg.norm(delta_shoulder)
+    dir_hip = delta_hip / np.linalg.norm(delta_hip)
+
+    left_dir = 0.5 * (dir_shoulder + dir_hip)
+
+    up_dir = np.cross(forward_dir, left_dir)
+    up_dir = up_dir / np.linalg.norm(up_dir)
+
+    left_dir = np.cross(up_dir, forward_dir)
+    left_dir[2] = 0.0  # make the base more stable
+    left_dir = left_dir / np.linalg.norm(left_dir)
+
+    rot_mat = np.array(
+        [
+            [forward_dir[0], left_dir[0], up_dir[0], 0],
+            [forward_dir[1], left_dir[1], up_dir[1], 0],
+            [forward_dir[2], left_dir[2], up_dir[2], 0],
+            [0, 0, 0, 1],
+        ]
+    )
+
+    root_pos = 0.5 * (pelvis_pos + neck_pos)
+    # root_pos = 0.25 * (left_shoulder_pos + right_shoulder_pos + left_hip_pos + right_hip_pos)
+    root_rot = transformations.quaternion_from_matrix(rot_mat)
+    root_rot = transformations.quaternion_multiply(root_rot, config.INIT_ROT)
+    root_rot = root_rot / np.linalg.norm(root_rot)
+
+    return root_pos, root_rot
+
+
+def retarget_pose(robot, default_pose, ref_joint_pos):
+    # 获取关节限制
+    joint_lim_low, joint_lim_high = get_joint_limits(robot)
+    joint_lim_low = [i * -1 for i in joint_lim_high]
+    joint_lim_high = [i * -1 for i in joint_lim_high]
+    # print(joint_lim_low)
+    # print(joint_lim_high)
+
+    root_pos, root_rot = retarget_root_pose(ref_joint_pos)
+    root_pos += config.SIM_ROOT_OFFSET
+
+    pybullet.resetBasePositionAndOrientation(robot, root_pos, root_rot)
+
+    inv_init_rot = transformations.quaternion_inverse(config.INIT_ROT)
+    heading_rot = calc_heading_rot(
+        transformations.quaternion_multiply(root_rot, inv_init_rot)
+    )
+
+    tar_toe_pos = []
+    for i in range(len(REF_TOE_JOINT_IDS)):
+        ref_toe_id = REF_TOE_JOINT_IDS[i]
+        ref_hip_id = REF_HIP_JOINT_IDS[i]
+        sim_hip_id = config.SIM_HIP_JOINT_IDS[i]
+        toe_offset_local = config.SIM_TOE_OFFSET_LOCAL[i]
+        ref_toe_pos = ref_joint_pos[ref_toe_id]
+        ref_hip_pos = ref_joint_pos[ref_hip_id]
+
+        hip_link_state = pybullet.getLinkState(
+            robot, sim_hip_id, computeForwardKinematics=True
+        )
+        sim_hip_pos = np.array(hip_link_state[4])
+
+        toe_offset_world = pose3d.QuaternionRotatePoint(toe_offset_local, heading_rot)
+
+        ref_hip_toe_delta = ref_toe_pos - ref_hip_pos
+        sim_tar_toe_pos = sim_hip_pos + ref_hip_toe_delta
+        sim_tar_toe_pos[2] = ref_toe_pos[2]
+        sim_tar_toe_pos += toe_offset_world
+
+        tar_toe_pos.append(sim_tar_toe_pos)
+
+    joint_pose = pybullet.calculateInverseKinematics2(
+        robot,
+        config.SIM_TOE_JOINT_IDS,
+        tar_toe_pos,
+        jointDamping=config.JOINT_DAMPING,
+        lowerLimits=joint_lim_low,
+        upperLimits=joint_lim_high,
+        restPoses=default_pose,
+    )
+    joint_pose = np.array(joint_pose)
+    # print(joint_pose)
+
+    tar_toe_pos_local = np.squeeze(
+        np.concatenate(
+            [
+                chain_foot_fl.forward_kinematics(joint_pose[:3]).get_matrix()[:, :3, 3],
+                chain_foot_fr.forward_kinematics(joint_pose[3:6]).get_matrix()[
+                    :, :3, 3
+                ],
+                chain_foot_rl.forward_kinematics(joint_pose[6:9]).get_matrix()[
+                    :, :3, 3
+                ],
+                chain_foot_rr.forward_kinematics(joint_pose[9:12]).get_matrix()[
+                    :, :3, 3
+                ],
+            ],
+            axis=-1,
+        )
+    )
+
+    pose = np.concatenate([root_pos, root_rot, joint_pose, tar_toe_pos_local])
+
+    return pose
+
+
+def update_camera(robot):
+    base_pos = np.array(pybullet.getBasePositionAndOrientation(robot)[0])
+    [yaw, pitch, dist] = pybullet.getDebugVisualizerCamera()[8:11]
+    pybullet.resetDebugVisualizerCamera(dist, yaw, pitch, base_pos)
+    return
+
+
+def load_ref_data(JOINT_POS_FILENAME, FRAME_START, FRAME_END):
+    joint_pos_data = np.loadtxt(JOINT_POS_FILENAME, delimiter=",")
+
+    start_frame = 0 if (FRAME_START is None) else FRAME_START
+    end_frame = joint_pos_data.shape[0] if (FRAME_END is None) else FRAME_END
+    joint_pos_data = joint_pos_data[start_frame:end_frame]
+
+    return joint_pos_data
+
+
+def retarget_motion(robot, joint_pos_data):
+    num_frames = joint_pos_data.shape[0]
+
+    time_between_frames = FRAME_DURATION
+
+    for f in range(num_frames - 1):
+        # Current robot pose.
+        ref_joint_pos = joint_pos_data[f]
+        # ref_joint_pos = np.reshape(ref_joint_pos, [-1, POS_SIZE])
+        # ref_joint_pos = process_ref_joint_pos_data(ref_joint_pos)
+        curr_pose = retarget_pose(robot, config.DEFAULT_JOINT_POSE, ref_joint_pos)
+        set_pose(robot, curr_pose)
+
+        # Next robot pose.
+        next_ref_joint_pos = joint_pos_data[f + 1]
+        # next_ref_joint_pos = np.reshape(next_ref_joint_pos, [-1, POS_SIZE])
+        # next_ref_joint_pos = process_ref_joint_pos_data(next_ref_joint_pos)
+        next_pose = retarget_pose(robot, config.DEFAULT_JOINT_POSE, next_ref_joint_pos)
+
+        if f == 0:
+            pose_size = (
+                curr_pose.shape[-1]
+                + LINEAR_VEL_SIZE
+                + ANGULAR_VEL_SIZE
+                + JOINT_POS_SIZE
+                + TAR_TOE_VEL_LOCAL_SIZE
+            )
+            new_frames = np.zeros([num_frames - 1, pose_size])
+
+        # Linear velocity in base frame.
+        del_linear_vel = (
+            np.array((get_root_pos(next_pose) - get_root_pos(curr_pose)))
+            / time_between_frames
+        )
+        r = pybullet.getMatrixFromQuaternion(get_root_rot(curr_pose))
+        del_linear_vel = np.matmul(del_linear_vel, np.array(r).reshape(3, 3))
+
+        # Angular velocity in base frame.
+        curr_quat = get_root_rot(curr_pose)
+        next_quat = get_root_rot(next_pose)
+        diff_quat = Quaternion.distance(
+            Quaternion(curr_quat[3], curr_quat[0], curr_quat[1], curr_quat[2]),
+            Quaternion(next_quat[3], next_quat[0], next_quat[1], next_quat[2]),
+        )
+        del_angular_vel = pybullet.getDifferenceQuaternion(
+            get_root_rot(curr_pose), get_root_rot(next_pose)
+        )
+        axis, _ = pybullet.getAxisAngleFromQuaternion(del_angular_vel)
+        del_angular_vel = np.array(axis) * (diff_quat * 2) / time_between_frames
+        # del_angular_vel = pybullet.getDifferenceQuaternion(get_root_rot(curr_pose), get_root_rot(next_pose))
+        # del_angular_vel = np.array(pybullet.getEulerFromQuaternion(del_angular_vel)) / time_between_frames
+        inv_init_rot = transformations.quaternion_inverse(config.INIT_ROT)
+        _, base_orientation_quat_from_init = pybullet.multiplyTransforms(
+            positionA=(0, 0, 0),
+            orientationA=inv_init_rot,
+            positionB=(0, 0, 0),
+            orientationB=get_root_rot(curr_pose),
+        )
+        _, inverse_base_orientation = pybullet.invertTransform(
+            [0, 0, 0], base_orientation_quat_from_init
+        )
+        del_angular_vel, _ = pybullet.multiplyTransforms(
+            positionA=(0, 0, 0),
+            orientationA=(inverse_base_orientation),
+            positionB=del_angular_vel,
+            orientationB=(0, 0, 0, 1),
+        )
+
+        joint_velocity = (
+            np.array(get_joint_pose(next_pose) - get_joint_pose(curr_pose))
+            / time_between_frames
+        )
+        toe_velocity = (
+            np.array(
+                get_tar_toe_pos_local(next_pose) - get_tar_toe_pos_local(curr_pose)
+            )
+            / time_between_frames
+        )
+
+        curr_pose = np.concatenate(
+            [curr_pose, del_linear_vel, del_angular_vel, joint_velocity, toe_velocity]
+        )
+
+        new_frames[f] = curr_pose
+
+    new_frames[:, 0:2] -= new_frames[0, 0:2]
+
+    return new_frames
+
+
+def main(argv):
+    p = pybullet
+    # p.connect(p.GUI, options=f"--width=1920 --height=1080")
+    if config.VISUALIZE_RETARGETING:
+        p.connect(
+            p.GUI, options='--width=1920 --height=1080 --mp4="test.mp4" --mp4fps=60'
+        )
+    else:
+        p.connect(
+            p.DIRECT, options='--width=1920 --height=1080 --mp4="test.mp4" --mp4fps=60'
+        )
+    p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING, 1)
+    pybullet.setAdditionalSearchPath(pd.getDataPath())
+
+    output_dir = config.OUTPUT_DIR
+    if not os.path.exists(output_dir):
+        os.makedirs(output_dir)
+
+    for mocap_motion in config.MOCAP_MOTIONS:
+        pybullet.resetSimulation()
+        pybullet.setGravity(0, 0, 0)
+
+        ground = pybullet.loadURDF(
+            GROUND_URDF_FILENAME
+        )  # pylint: disable=unused-variable
+        robot = pybullet.loadURDF(
+            config.URDF_FILENAME,
+            config.INIT_POS,
+            config.INIT_ROT,
+            flags=p.URDF_MAINTAIN_LINK_ORDER,
+        )
+        # robot = pybullet.loadMJCF(
+        #     config.URDF_FILENAME,
+        #     config.INIT_POS,
+        #     config.INIT_ROT,
+        #     flags=p.URDF_MAINTAIN_LINK_ORDER)
+        # Set robot to default pose to bias knees in the right direction.
+        set_pose(
+            robot,
+            np.concatenate(
+                [config.INIT_POS, config.INIT_ROT, config.DEFAULT_JOINT_POSE]
+            ),
+        )
+
+        print(f"Re-targeting {mocap_motion}")
+
+        p.removeAllUserDebugItems()
+        # 读取每一行为一个数组
+        joint_pos_data = load_ref_data(
+            mocap_motion[1], mocap_motion[2], mocap_motion[3] + 1
+        )
+
+        if "reverse" in mocap_motion[0]:
+            joint_pos_data = np.flip(joint_pos_data, axis=0)
+
+        # 每3个数构建一个数组
+        joint_pos_data = joint_pos_data.reshape(joint_pos_data.shape[0], -1, POS_SIZE)
+
+        # 对数据进行坐标变换
+        for i in range(joint_pos_data.shape[0]):
+            joint_pos_data[i] = process_ref_joint_pos_data(joint_pos_data[i])
+
+        # 调整足端位置
+        for ref_toe_joint_id in REF_TOE_JOINT_IDS:
+            # 对于关节姿态数据中脚尖关节的最后一个分量（通常表示 z 轴位置），减去该关节在所有帧中的最小值。这个操作将使所有帧中的脚尖位置的最小值为零，相当于把整个运动序列提升到使最低点在地面上。
+            joint_pos_data[:, ref_toe_joint_id, -1] -= np.min(
+                joint_pos_data[:, ref_toe_joint_id, -1]
+            )
+            print(joint_pos_data[:, ref_toe_joint_id, -1])
+            # 在上一步基础上，再加上一个常数 config.TOE_HEIGHT_OFFSET。这个常数用来提升所有帧中的脚尖位置，从而增加脚尖与地面的距离。这种调整可能用于确保模型在模拟时不会与地面产生碰撞等情况。
+            joint_pos_data[:, ref_toe_joint_id, -1] += config.TOE_HEIGHT_OFFSET
+
+        retarget_frames = retarget_motion(robot, joint_pos_data)
+        joint_pos_data = joint_pos_data[:-1, :]
+
+        output_file = os.path.join(output_dir, f"{mocap_motion[0]}.txt")
+        output_motion(retarget_frames, output_file, mocap_motion[4], FRAME_DURATION)
+
+        if config.VISUALIZE_RETARGETING:
+            num_markers = joint_pos_data.shape[1]
+            marker_ids = build_markers(num_markers)
+            foot_line_unique_ids = [None] * 4
+            linear_vel_unique_id = None
+            angular_vel_unique_id = None
+
+            f = 0
+            num_frames = joint_pos_data.shape[0]
+
+            for repeat in range(1 * num_frames):
+                time_start = time.time()
+
+                f_idx = f % num_frames
+                print("Frame {:d}".format(f_idx))
+
+                ref_joint_pos = joint_pos_data[f_idx]
+                # ref_joint_pos = np.reshape(ref_joint_pos, [-1, POS_SIZE])
+                # ref_joint_pos = process_ref_joint_pos_data(ref_joint_pos)
+
+                pose = retarget_frames[f_idx]
+
+                set_pose(robot, pose)
+                set_maker_pos(ref_joint_pos, marker_ids)
+                foot_line_unique_ids = set_foot_marker_pos(
+                    get_tar_toe_pos_local(pose), robot, foot_line_unique_ids
+                )
+                linear_vel_unique_id = set_linear_vel_pos(
+                    get_linear_vel(pose), robot, linear_vel_unique_id
+                )
+                angular_vel_unique_id = set_angular_vel_pos(
+                    get_angular_vel(pose), robot, angular_vel_unique_id
+                )
+
+                update_camera(robot)
+                p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING, 1)
+                f += 1
+
+                time_end = time.time()
+                sleep_dur = FRAME_DURATION - (time_end - time_start)
+                sleep_dur = max(0, sleep_dur)
+
+                time.sleep(sleep_dur)
+                # time.sleep(0.5) # jp hack
+            for m in marker_ids:
+                p.removeBody(m)
+
+            p.removeAllUserDebugItems()
+            marker_ids = []
+
+    pybullet.disconnect()
+
+    return
+
+
+if __name__ == "__main__":
+    main(None)
+    # tf.app.run(main)

datasets/retarget_utils.py

+import numpy as np
+from pybullet_utils import transformations
+import pybullet
+
+from rsl_rl.datasets import pose3d
+
+POS_SIZE = 3
+ROT_SIZE = 4
+
+
+def get_root_pos(pose):
+    return pose[0:POS_SIZE]
+
+
+def get_root_rot(pose):
+    return pose[POS_SIZE : (POS_SIZE + ROT_SIZE)]
+
+
+def calc_heading(q):
+    """Returns the heading of a rotation q, specified as a quaternion.
+
+    The heading represents the rotational component of q along the vertical
+    axis (z axis).
+
+    Args:
+      q: A quaternion that the heading is to be computed from.
+
+    Returns:
+      An angle representing the rotation about the z axis.
+
+    """
+    ref_dir = np.array([1, 0, 0])
+    rot_dir = pose3d.QuaternionRotatePoint(ref_dir, q)
+    heading = np.arctan2(rot_dir[1], rot_dir[0])
+    return heading
+
+
+def calc_heading_rot(q):
+    """Return a quaternion representing the heading rotation of q along the vertical axis (z axis).
+
+    Args:
+      q: A quaternion that the heading is to be computed from.
+
+    Returns:
+      A quaternion representing the rotation about the z axis.
+
+    """
+    heading = calc_heading(q)
+    q_heading = transformations.quaternion_about_axis(heading, [0, 0, 1])
+    return q_heading
+
+
+def get_joint_limits(robot):
+    num_joints = pybullet.getNumJoints(robot)
+    joint_limit_low = []
+    joint_limit_high = []
+
+    for i in range(num_joints):
+        joint_info = pybullet.getJointInfo(robot, i)
+        joint_type = joint_info[2]
+
+        if (
+            joint_type == pybullet.JOINT_PRISMATIC
+            or joint_type == pybullet.JOINT_REVOLUTE
+        ):
+            joint_limit_low.append(joint_info[8])
+            joint_limit_high.append(joint_info[9])
+
+    return joint_limit_low, joint_limit_high
+
+
+def set_pose(robot, pose):
+    num_joints = pybullet.getNumJoints(robot)
+    root_pos = get_root_pos(pose)
+    root_rot = get_root_rot(pose)
+    pybullet.resetBasePositionAndOrientation(robot, root_pos, root_rot)
+
+    for j in range(num_joints):
+        j_info = pybullet.getJointInfo(robot, j)
+        j_state = pybullet.getJointStateMultiDof(robot, j)
+
+        j_pose_idx = j_info[3]
+        j_pose_size = len(j_state[0])
+        j_vel_size = len(j_state[1])
+
+        if j_pose_size > 0:
+            j_pose = pose[j_pose_idx : (j_pose_idx + j_pose_size)]
+            j_vel = np.zeros(j_vel_size)
+            pybullet.resetJointStateMultiDof(robot, j, j_pose, j_vel)
+
+
+def output_motion(frames, out_filename, motion_weight, frame_duration):
+    with open(out_filename, "w") as f:
+        f.write("{\n")
+        f.write('"LoopMode": "Wrap",\n')
+        f.write('"FrameDuration": ' + str(frame_duration) + ",\n")
+        f.write('"EnableCycleOffsetPosition": true,\n')
+        f.write('"EnableCycleOffsetRotation": true,\n')
+        f.write('"MotionWeight": ' + str(motion_weight) + ",\n")
+        f.write("\n")
+
+        f.write('"Frames":\n')
+
+        f.write("[")
+        for i in range(frames.shape[0]):
+            curr_frame = frames[i]
+
+            if i != 0:
+                f.write(",")
+            f.write("\n  [")
+
+            for j in range(frames.shape[1]):
+                curr_val = curr_frame[j]
+                if j != 0:
+                    f.write(", ")
+                f.write("%.5f" % curr_val)
+
+            f.write("]")
+
+        f.write("\n]")
+        f.write("\n}")
+
+    return
+
+
+###########################
+## Visualization methods ##
+###########################
+def set_linear_vel_pos(linear_vel, robot_idx, unique_id=None):
+    ray_start = np.array([0.0, 0.0, 0.25])
+    ray_end = ray_start + linear_vel / 3.0
+
+    if unique_id is not None:
+        return pybullet.addUserDebugLine(
+            lineFromXYZ=ray_start,
+            lineToXYZ=ray_end,
+            lineWidth=4,
+            replaceItemUniqueId=unique_id,
+            lineColorRGB=[1, 0, 0],
+            parentObjectUniqueId=robot_idx,
+        )
+    else:
+        return pybullet.addUserDebugLine(
+            lineFromXYZ=ray_start,
+            lineToXYZ=ray_end,
+            lineWidth=4,
+            lineColorRGB=[1, 0, 0],
+            parentObjectUniqueId=robot_idx,
+        )
+
+
+def set_angular_vel_pos(angular_vel, robot_idx, unique_id=None):
+    ray_start = np.array([0.0, 0.0, 0.0])
+    ray_end = ray_start + angular_vel
+
+    if unique_id is not None:
+        return pybullet.addUserDebugLine(
+            lineFromXYZ=ray_start,
+            lineToXYZ=ray_end,
+            lineWidth=4,
+            replaceItemUniqueId=unique_id,
+            lineColorRGB=[1, 0, 0],
+            parentObjectUniqueId=robot_idx,
+        )
+    else:
+        return pybullet.addUserDebugLine(
+            lineFromXYZ=ray_start,
+            lineToXYZ=ray_end,
+            lineWidth=4,
+            lineColorRGB=[1, 0, 0],
+            parentObjectUniqueId=robot_idx,
+        )
+
+
+def build_markers(num_markers, special_idx, special_colors):
+    marker_radius = 0.01
+    markers = []
+    for i in range(num_markers):
+        if i in special_idx:
+            color = special_colors[special_idx.index(i)]
+        else:
+            color = [1, 1, 1, 1]
+
+        virtual_shape_id = pybullet.createVisualShape(
+            shapeType=pybullet.GEOM_SPHERE, radius=marker_radius, rgbaColor=color
+        )
+        body_id = pybullet.createMultiBody(
+            baseMass=0,
+            baseCollisionShapeIndex=-1,
+            baseVisualShapeIndex=virtual_shape_id,
+            basePosition=[0, 0, 0],
+            useMaximalCoordinates=True,
+        )
+        markers.append(body_id)
+    return markers
+
+
+def update_marker_pos(marker_pos, marker_ids):
+    num_markers = len(marker_ids)
+    assert num_markers == marker_pos.shape[0]
+
+    for i in range(num_markers):
+        curr_id = marker_ids[i]
+        curr_pos = marker_pos[i]
+        pybullet.resetBasePositionAndOrientation(curr_id, curr_pos, [0, 0, 0, 1])
+    return marker_ids
+
+
+def build_coordinate_frame():
+    dir_line_1 = pybullet.addUserDebugLine([0, 0, 0], [1, 1, 1], [1, 0, 0])
+    dir_line_2 = pybullet.addUserDebugLine([0, 0, 0], [1, 1, 1], [1, 0, 0])
+    dir_line_3 = pybullet.addUserDebugLine([0, 0, 0], [1, 1, 1], [1, 0, 0])
+    return [dir_line_1, dir_line_2, dir_line_3]
+
+
+def update_coordinate_frame(lines, origin, H, R, scale=0.25):
+    for i in range(3):
+        color = [0, 0, 0]
+        color[i] = 1
+        lines[i] = pybullet.addUserDebugLine(
+            lineFromXYZ=origin,
+            lineToXYZ=H + R.dot(np.array(color)) * scale,
+            replaceItemUniqueId=lines[i],
+            lineColorRGB=color,
+        )
+    return lines

humanoid/algo/loadamp/amp_utils.py

+import numpy as np
+import torch
+from typing import Tuple
+
+_EPS = np.finfo(float).eps * 4.0
+
+
+class RunningMeanStd:
+    def __init__(self, epsilon: float = 1e-4, shape: Tuple[int, ...] = ()):
+        """
+        Calculates the running mean and std of a data stream
+        https://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#Parallel_algorithm
+        :param epsilon: helps with arithmetic issues
+        :param shape: the shape of the data stream's output
+        """
+        self.mean = np.zeros(shape, np.float64)
+        self.var = np.ones(shape, np.float64)
+        self.count = epsilon
+
+    def update(self, arr: np.ndarray) -> None:
+        batch_mean = np.mean(arr, axis=0)
+        batch_var = np.var(arr, axis=0)
+        batch_count = arr.shape[0]
+        self.update_from_moments(batch_mean, batch_var, batch_count)
+
+    def update_from_moments(self, batch_mean: np.ndarray, batch_var: np.ndarray, batch_count: int) -> None:
+        delta = batch_mean - self.mean
+        tot_count = self.count + batch_count
+
+        new_mean = self.mean + delta * batch_count / tot_count
+        m_a = self.var * self.count
+        m_b = batch_var * batch_count
+        m_2 = m_a + m_b + np.square(delta) * self.count * batch_count / (self.count + batch_count)
+        new_var = m_2 / (self.count + batch_count)
+
+        new_count = batch_count + self.count
+
+        self.mean = new_mean
+        self.var = new_var
+        self.count = new_count
+
+
+class Normalizer(RunningMeanStd):
+    def __init__(self, input_dim, epsilon=1e-4, clip_obs=10.0):
+        super().__init__(shape=input_dim)
+        self.epsilon = epsilon
+        self.clip_obs = clip_obs
+
+    def normalize(self, input):
+        return np.clip((input - self.mean) / np.sqrt(self.var + self.epsilon), -self.clip_obs, self.clip_obs)
+
+    def normalize_torch(self, input, device):
+        mean_torch = torch.tensor(self.mean, device=device, dtype=torch.float32)
+        std_torch = torch.sqrt(torch.tensor(self.var + self.epsilon, device=device, dtype=torch.float32))
+        return torch.clamp((input - mean_torch) / std_torch, -self.clip_obs, self.clip_obs)
+
+    def update_normalizer(self, rollouts, expert_loader):
+        policy_data_generator = rollouts.feed_forward_generator_amp(None, mini_batch_size=expert_loader.batch_size)
+        expert_data_generator = expert_loader.dataset.feed_forward_generator_amp(expert_loader.batch_size)
+
+        for expert_batch, policy_batch in zip(expert_data_generator, policy_data_generator):
+            self.update(torch.vstack(tuple(policy_batch) + tuple(expert_batch)).cpu().numpy())
+
+
+def quaternion_slerp(q0, q1, fraction, spin=0, shortestpath=True):
+    """Batch quaternion spherical linear interpolation."""
+
+    out = torch.zeros_like(q0)
+
+    zero_mask = torch.isclose(fraction, torch.zeros_like(fraction)).squeeze()
+    ones_mask = torch.isclose(fraction, torch.ones_like(fraction)).squeeze()
+    out[zero_mask] = q0[zero_mask]
+    out[ones_mask] = q1[ones_mask]
+
+    d = torch.sum(q0 * q1, dim=-1, keepdim=True)
+    dist_mask = (torch.abs(torch.abs(d) - 1.0) < _EPS).squeeze()
+    out[dist_mask] = q0[dist_mask]
+
+    if shortestpath:
+        d_old = torch.clone(d)
+        d = torch.where(d_old < 0, -d, d)
+        q1 = torch.where(d_old < 0, -q1, q1)
+
+    angle = torch.acos(d) + spin * torch.pi
+    angle_mask = (torch.abs(angle) < _EPS).squeeze()
+    out[angle_mask] = q0[angle_mask]
+
+    final_mask = torch.logical_or(zero_mask, ones_mask)
+    final_mask = torch.logical_or(final_mask, dist_mask)
+    final_mask = torch.logical_or(final_mask, angle_mask)
+    final_mask = torch.logical_not(final_mask)
+
+    isin = 1.0 / angle
+    q0 *= torch.sin((1.0 - fraction) * angle) * isin
+    q1 *= torch.sin(fraction * angle) * isin
+    q0 += q1
+    out[final_mask] = q0[final_mask]
+    return out
+
+def split_and_pad_trajectories(tensor, dones):
+    """ Splits trajectories at done indices. Then concatenates them and padds with zeros up to the length og the longest trajectory.
+    Returns masks corresponding to valid parts of the trajectories
+    Example: 
+        Input: [ [a1, a2, a3, a4 | a5, a6],
+                 [b1, b2 | b3, b4, b5 | b6]
+                ]
+
+        Output:[ [a1, a2, a3, a4], | [  [True, True, True, True],
+                 [a5, a6, 0, 0],   |    [True, True, False, False],
+                 [b1, b2, 0, 0],   |    [True, True, False, False],
+                 [b3, b4, b5, 0],  |    [True, True, True, False],
+                 [b6, 0, 0, 0]     |    [True, False, False, False],
+                ]                  | ]    
+            
+    Assumes that the inputy has the following dimension order: [time, number of envs, aditional dimensions]
+    """
+    dones = dones.clone()
+    dones[-1] = 1
+    # Permute the buffers to have order (num_envs, num_transitions_per_env, ...), for correct reshaping
+    flat_dones = dones.transpose(1, 0).reshape(-1, 1)
+
+    # Get length of trajectory by counting the number of successive not done elements
+    done_indices = torch.cat((flat_dones.new_tensor([-1], dtype=torch.int64), flat_dones.nonzero()[:, 0]))
+    trajectory_lengths = done_indices[1:] - done_indices[:-1]
+    trajectory_lengths_list = trajectory_lengths.tolist()
+    # Extract the individual trajectories
+    trajectories = torch.split(tensor.transpose(1, 0).flatten(0, 1),trajectory_lengths_list)
+    padded_trajectories = torch.nn.utils.rnn.pad_sequence(trajectories)
+
+
+    trajectory_masks = trajectory_lengths > torch.arange(0, tensor.shape[0], device=tensor.device).unsqueeze(1)
+    return padded_trajectories, trajectory_masks
+
+def unpad_trajectories(trajectories, masks):
+    """ Does the inverse operation of  split_and_pad_trajectories()
+    """
+    # Need to transpose before and after the masking to have proper reshaping
+    return trajectories.transpose(1, 0)[masks.transpose(1, 0)].view(-1, trajectories.shape[0], trajectories.shape[-1]).transpose(1, 0)
+
+from typing import Tuple
+import numpy as np
+_EPS = np.finfo(float).eps * 4.0
+
+class RunningMeanStd(object):
+    def __init__(self, epsilon: float = 1e-4, shape: Tuple[int, ...] = ()):
+        """
+        Calulates the running mean and std of a data stream
+        https://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#Parallel_algorithm
+        :param epsilon: helps with arithmetic issues
+        :param shape: the shape of the data stream's output
+        """
+        self.mean = np.zeros(shape, np.float64)
+        self.var = np.ones(shape, np.float64)
+        self.count = epsilon
+
+    def update(self, arr: np.ndarray) -> None:
+        batch_mean = np.mean(arr, axis=0)
+        batch_var = np.var(arr, axis=0)
+        batch_count = arr.shape[0]
+        self.update_from_moments(batch_mean, batch_var, batch_count)
+
+    def update_from_moments(self, batch_mean: np.ndarray, batch_var: np.ndarray, batch_count: int) -> None:
+        delta = batch_mean - self.mean
+        tot_count = self.count + batch_count
+
+        new_mean = self.mean + delta * batch_count / tot_count
+        m_a = self.var * self.count
+        m_b = batch_var * batch_count
+        m_2 = m_a + m_b + np.square(delta) * self.count * batch_count / (self.count + batch_count)
+        new_var = m_2 / (self.count + batch_count)
+
+        new_count = batch_count + self.count
+
+        self.mean = new_mean
+        self.var = new_var
+        self.count = new_count
+
+
+class Normalizer(RunningMeanStd):
+    def __init__(self, input_dim, epsilon=1e-4, clip_obs=10.0):
+        super().__init__(shape=input_dim)
+        self.epsilon = epsilon
+        self.clip_obs = clip_obs
+
+    def normalize(self, input):
+        return np.clip(
+            (input - self.mean) / np.sqrt(self.var + self.epsilon),
+            -self.clip_obs, self.clip_obs)
+
+    def normalize_torch(self, input, device):
+        mean_torch = torch.tensor(
+            self.mean, device=device, dtype=torch.float32)
+        std_torch = torch.sqrt(torch.tensor(
+            self.var + self.epsilon, device=device, dtype=torch.float32))
+        return torch.clamp(
+            (input - mean_torch) / std_torch, -self.clip_obs, self.clip_obs)
+
+    def update_normalizer(self, rollouts, expert_loader):
+        policy_data_generator = rollouts.feed_forward_generator_amp(
+            None, mini_batch_size=expert_loader.batch_size)
+        expert_data_generator = expert_loader.dataset.feed_forward_generator_amp(
+                expert_loader.batch_size)
+
+        for expert_batch, policy_batch in zip(expert_data_generator, policy_data_generator):
+            self.update(
+                torch.vstack(tuple(policy_batch) + tuple(expert_batch)).cpu().numpy())
+
+def quaternion_slerp(q0, q1, fraction, spin=0, shortestpath=True):
+    """Batch quaternion spherical linear interpolation."""
+
+    out = torch.zeros_like(q0)
+
+    zero_mask = torch.isclose(fraction, torch.zeros_like(fraction)).squeeze()
+    ones_mask = torch.isclose(fraction, torch.ones_like(fraction)).squeeze()
+    out[zero_mask] = q0[zero_mask]
+    out[ones_mask] = q1[ones_mask]
+
+    d = torch.sum(q0 * q1, dim=-1, keepdim=True)
+    dist_mask = (torch.abs(torch.abs(d) - 1.0) < _EPS).squeeze()
+    out[dist_mask] = q0[dist_mask]
+
+    if shortestpath:
+        d_old = torch.clone(d)
+        d = torch.where(d_old < 0, -d, d)
+        q1 = torch.where(d_old < 0, -q1, q1)
+
+    angle = torch.acos(d) + spin * torch.pi
+    angle_mask = (torch.abs(angle) < _EPS).squeeze()
+    out[angle_mask] = q0[angle_mask]
+
+    final_mask = torch.logical_or(zero_mask, ones_mask)
+    final_mask = torch.logical_or(final_mask, dist_mask)
+    final_mask = torch.logical_or(final_mask, angle_mask)
+    final_mask = torch.logical_not(final_mask)
+
+    isin = 1.0 / angle
+    q0 *= torch.sin((1.0 - fraction) * angle) * isin
+    q1 *= torch.sin(fraction * angle) * isin
+    q0 += q1
+    out[final_mask] = q0[final_mask]
+    return out

humanoid/algo/loadamp/motion_loader copy.py

+import os
+import glob
+import json
+import logging
+
+import torch
+import numpy as np
+from pybullet_utils import transformations
+
+from utils import utils
+from .pose3d import *
+from .motion_util import *
+from humanoid.algo.loadamp import amp_utils
+
+import glob
+import json
+import numpy as np
+import torch
+
+
+class AMPLoader:
+
+    # root_pos, root_rot, joint_pos, foot_pos, lin_vel, ang_vel, joint_vel, foot_vel
+    POS_SIZE = 3  # base pos
+    ROT_SIZE = 4  # base rot
+    LINEAR_VEL_SIZE = 3  # base v
+    ANGULAR_VEL_SIZE = 3  # base omega
+    JOINT_POS_SIZE = 20  # joint theta
+    JOINT_VEL_SIZE = 20  # joint dtheta
+    TAR_TOE_POS_LOCAL_SIZE = 12  # foot pos
+    # TAR_TOE_VEL_LOCAL_SIZE = 12  # foot v
+
+    # ROOT_POS_START_IDX = 0
+    # ROOT_POS_END_IDX = ROOT_POS_START_IDX + POS_SIZE
+
+    # ROOT_ROT_START_IDX = ROOT_POS_END_IDX
+    # ROOT_ROT_END_IDX = ROOT_ROT_START_IDX + ROT_SIZE
+
+    # JOINT_POSE_START_IDX = ROOT_ROT_END_IDX
+    # JOINT_POSE_END_IDX = JOINT_POSE_START_IDX + JOINT_POS_SIZE
+
+    # TAR_TOE_POS_LOCAL_START_IDX = JOINT_POSE_END_IDX
+    # TAR_TOE_POS_LOCAL_END_IDX = TAR_TOE_POS_LOCAL_START_IDX + TAR_TOE_POS_LOCAL_SIZE
+
+    # LINEAR_VEL_START_IDX = TAR_TOE_POS_LOCAL_END_IDX
+    # LINEAR_VEL_END_IDX = LINEAR_VEL_START_IDX + LINEAR_VEL_SIZE
+
+    # ANGULAR_VEL_START_IDX = LINEAR_VEL_END_IDX
+    # ANGULAR_VEL_END_IDX = ANGULAR_VEL_START_IDX + ANGULAR_VEL_SIZE
+
+    # JOINT_VEL_START_IDX = ANGULAR_VEL_END_IDX
+    # JOINT_VEL_END_IDX = JOINT_VEL_START_IDX + JOINT_VEL_SIZE
+
+    # TAR_TOE_VEL_LOCAL_START_IDX = JOINT_VEL_END_IDX
+    # TAR_TOE_VEL_LOCAL_END_IDX = TAR_TOE_VEL_LOCAL_START_IDX + TAR_TOE_VEL_LOCAL_SIZE
+    
+    ROOT_POS_START_IDX = 0
+    ROOT_POS_END_IDX = ROOT_POS_START_IDX + POS_SIZE
+
+    ROOT_ROT_START_IDX = ROOT_POS_END_IDX
+    ROOT_ROT_END_IDX = ROOT_ROT_START_IDX + ROT_SIZE
+
+    JOINT_POSE_START_IDX = ROOT_ROT_END_IDX
+    JOINT_POSE_END_IDX = JOINT_POSE_START_IDX + JOINT_POS_SIZE
+
+    TAR_TOE_POS_LOCAL_START_IDX = JOINT_POSE_END_IDX
+    TAR_TOE_POS_LOCAL_END_IDX = TAR_TOE_POS_LOCAL_START_IDX + TAR_TOE_POS_LOCAL_SIZE
+
+    LINEAR_VEL_START_IDX = TAR_TOE_POS_LOCAL_END_IDX
+    LINEAR_VEL_END_IDX = LINEAR_VEL_START_IDX + LINEAR_VEL_SIZE
+
+    ANGULAR_VEL_START_IDX = LINEAR_VEL_END_IDX
+    ANGULAR_VEL_END_IDX = ANGULAR_VEL_START_IDX + ANGULAR_VEL_SIZE
+
+    JOINT_VEL_START_IDX = ANGULAR_VEL_END_IDX
+    JOINT_VEL_END_IDX = JOINT_VEL_START_IDX + JOINT_VEL_SIZE
+
+    # TAR_TOE_VEL_LOCAL_START_IDX = JOINT_VEL_END_IDX
+    # TAR_TOE_VEL_LOCAL_END_IDX = TAR_TOE_VEL_LOCAL_START_IDX + TAR_TOE_VEL_LOCAL_SIZE
+
+    def __init__(
+        self,
+        device,
+        time_between_frames,
+        data_dir="",
+        preload_transitions=False,
+        num_preload_transitions=1000000,
+        motion_files=glob.glob("/home/bxi/amp_parkour/datasets/bot_elf/*"),
+    ):
+        """Expert dataset provides AMP observations from Dog mocap dataset.
+
+        time_between_frames: Amount of time in seconds between transition.
+        """
+        self.device = device
+        self.time_between_frames = time_between_frames #dt*dec=0.005*4=20ms
+
+        # Values to store for each trajectory.
+        self.trajectories = []
+        self.trajectories_full = []
+        self.trajectory_names = []
+        self.trajectory_idxs = []
+        self.trajectory_lens = []  # Traj length in seconds.
+        self.trajectory_weights = []
+        self.trajectory_frame_durations = []
+        self.trajectory_num_frames = []
+        # motion_files=glob.glob("/home/bxi/amp_parkour/datasets/bot_elf/*")
+        print(f"Loading {motion_files}...")
+        for i, motion_file in enumerate(motion_files):
+            self.trajectory_names.append(motion_file.split(".")[0])
+            with open(motion_file) as f:
+                motion_json = json.load(f)
+                motion_data = np.array(motion_json["Frames"])
+                # motion_data = self.reorder_from_pybullet_to_isaac(motion_data)
+
+                # Normalize and standardize quaternions.
+                for f_i in range(motion_data.shape[0]):
+                    root_rot = AMPLoader.get_root_rot(motion_data[f_i])
+                    root_rot = pose3d.QuaternionNormalize(root_rot)
+                    root_rot = motion_util.standardize_quaternion(root_rot)
+                    motion_data[f_i, AMPLoader.POS_SIZE : (AMPLoader.POS_SIZE + AMPLoader.ROT_SIZE)] = root_rot
+
+                # Remove first 7 observation dimensions (root_pos and root_orn).
+                self.trajectories.append(
+                    torch.tensor(
+                        motion_data[:, AMPLoader.ROOT_ROT_END_IDX : AMPLoader.JOINT_VEL_END_IDX], #base_vel_l base_vel_a q v
+                        dtype=torch.float32,
+                        device=device,
+                    )
+                )
+                self.trajectories_full.append(
+                    torch.tensor(motion_data[:, : AMPLoader.JOINT_VEL_END_IDX], dtype=torch.float32, device=device) #base_pos base_rot base_vel_l base_vel_a q v
+                )
+                self.trajectory_idxs.append(i)
+                self.trajectory_weights.append(float(motion_json["MotionWeight"]))
+                frame_duration = float(motion_json["FrameDuration"])
+                self.trajectory_frame_durations.append(frame_duration)
+                traj_len = (motion_data.shape[0] - 1) * frame_duration
+                self.trajectory_lens.append(traj_len) #轨迹时间长度
+                self.trajectory_num_frames.append(float(motion_data.shape[0]))
+
+            print(f"Loaded {traj_len}s. motion from {motion_file}.")
+
+        # Trajectory weights are used to sample some trajectories more than others.
+        self.trajectory_weights = np.array(self.trajectory_weights) / np.sum(self.trajectory_weights)
+        self.trajectory_frame_durations = np.array(self.trajectory_frame_durations) #帧时间
+        self.trajectory_lens = np.array(self.trajectory_lens)
+        self.trajectory_num_frames = np.array(self.trajectory_num_frames)
+
+        # Preload transitions.
+        self.preload_transitions = preload_transitions
+        if self.preload_transitions:
+            print(f"Preloading {num_preload_transitions} transitions")
+            traj_idxs = self.weighted_traj_idx_sample_batch(num_preload_transitions) #根据权重采样指定长度的轨迹序列 (2000000条)
+            times = self.traj_time_sample_batch(traj_idxs)                           #(0 : (1*traj_time - 0.02ms)) 单条轨迹的持续时间
+            self.preloaded_s = self.get_full_frame_at_time_batch(traj_idxs, times)
+            self.preloaded_s_next = self.get_full_frame_at_time_batch(traj_idxs, times + self.time_between_frames)
+
+            print(self.get_joint_pose_batch(self.preloaded_s).mean(dim=0))
+            print("Finished preloading")
+
+        self.all_trajectories_full = torch.vstack(self.trajectories_full)
+
+    def reorder_from_mujuco_to_isaacgym_tool(self, joint_tensor):
+        # # Convert to a 4x3 tensor
+        # reshaped_tensor = torch.reshape(joint_tensor, (-1, 4, 3))
+        # # Transpose the tensor
+        # transposed_tensor = torch.transpose(reshaped_tensor, 1, 2)
+        # # Flatten the tensor to 1 dimension
+        # rearranged_tensor = torch.reshape(transposed_tensor, (-1, 12))
+        # return rearranged_tensor
+        a=joint_tensor[:,[0,12,6,16,1,13,7,17,2,14,8,18,3,15,9,19,4,10,5,11]]
+        return a[:,[0,4,8,12,16,18,1,5,9,13,2,6,10,14,17,19,3,7,11,15]]
+    
+
+    def reorder_from_isaacgym_to_mujuco_tool(self, joint_tensor):
+        # # Convert to a 3x4 tensor
+        # reshaped_tensor = torch.reshape(joint_tensor, (-1, 3, 4))
+        # # Transpose the tensor
+        # transposed_tensor = torch.transpose(reshaped_tensor, 1, 2)
+        # # Flatten the tensor to 1 dimension
+        # rearranged_tensor = torch.reshape(transposed_tensor, (-1, 12))
+        # return rearranged_tensor
+        a=joint_tensor[:,[0,6,10,16,1,7,11,17,2,8,12,18,3,9,13,19,4,14,5,15]]
+        return a[:,[0,4,8,12,16,18, 2,6,10,14,17,19, 1,5,9,13, 3,7,11,15]]
+
+    def reorder_from_pybullet_to_isaac(self, motion_data):
+        """Convert from PyBullet ordering to Isaac ordering.
+
+        Rearranges leg and joint order from PyBullet [FR, FL, RR, RL] to
+        IsaacGym order [FL, FR, RL, RR].
+        """
+        # 获取根节点位置
+        root_pos = AMPLoader.get_root_pos_batch(motion_data)
+        # 获取根节点旋转
+        root_rot = AMPLoader.get_root_rot_batch(motion_data)
+
+        # 获取关节位置
+        jp_fr, jp_fl, jp_rr, jp_rl = np.split(AMPLoader.get_joint_pose_batch(motion_data), 4, axis=1)
+        joint_pos = np.hstack([jp_fl, jp_fr, jp_rl, jp_rr])
+
+        fp_fr, fp_fl, fp_rr, fp_rl = np.split(AMPLoader.get_tar_toe_pos_local_batch(motion_data), 4, axis=1)
+        foot_pos = np.hstack([fp_fl, fp_fr, fp_rl, fp_rr])
+
+        lin_vel = AMPLoader.get_linear_vel_batch(motion_data)
+        ang_vel = AMPLoader.get_angular_vel_batch(motion_data)
+
+        jv_fr, jv_fl, jv_rr, jv_rl = np.split(AMPLoader.get_joint_vel_batch(motion_data), 4, axis=1)
+        joint_vel = np.hstack([jv_fl, jv_fr, jv_rl, jv_rr])
+
+        fv_fr, fv_fl, fv_rr, fv_rl = np.split(AMPLoader.get_tar_toe_vel_local_batch(motion_data), 4, axis=1)
+        foot_vel = np.hstack([fv_fl, fv_fr, fv_rl, fv_rr])
+
+        return np.hstack([root_pos, root_rot, joint_pos, foot_pos, lin_vel, ang_vel, joint_vel, foot_vel])
+
+    def weighted_traj_idx_sample(self):
+        """Get traj idx via weighted sampling."""
+        return np.random.choice(self.trajectory_idxs, p=self.trajectory_weights)
+
+    def weighted_traj_idx_sample_batch(self, size):
+        """Batch sample traj idxs."""
+        return np.random.choice(self.trajectory_idxs, size=size, p=self.trajectory_weights, replace=True)
+
+    def traj_time_sample(self, traj_idx):
+        """Sample random time for traj."""
+        subst = self.time_between_frames + self.trajectory_frame_durations[traj_idx]
+        return max(0, (self.trajectory_lens[traj_idx] * np.random.uniform() - subst))
+
+    def traj_time_sample_batch(self, traj_idxs):
+        """Sample random time for multiple trajectories."""
+        subst = self.time_between_frames + self.trajectory_frame_durations[traj_idxs] #策略执行时间+动捕帧时间
+        time_samples = self.trajectory_lens[traj_idxs] * np.random.uniform(size=len(traj_idxs)) - subst #单条轨迹时间长度归一化 - subset(0.02)
+        return np.maximum(np.zeros_like(time_samples), time_samples) #(0 - (1*traj_time - 0.02ms))
+
+    def slerp(self, val0, val1, blend):
+        return (1.0 - blend) * val0 + blend * val1
+
+    def get_trajectory(self, traj_idx):
+        """Returns trajectory of AMP observations."""
+        return self.trajectories_full[traj_idx]
+
+    def get_frame_at_time(self, traj_idx, time):
+        """Returns frame for the given trajectory at the specified time."""
+        p = float(time) / self.trajectory_lens[traj_idx]
+        n = self.trajectories[traj_idx].shape[0]
+        idx_low, idx_high = int(np.floor(p * n)), int(np.ceil(p * n))
+        frame_start = self.trajectories[traj_idx][idx_low]
+        frame_end = self.trajectories[traj_idx][idx_high]
+        blend = p * n - idx_low
+        return self.slerp(frame_start, frame_end, blend)
+
+    def get_frame_at_time_batch(self, traj_idxs, times):
+        """Returns frame for the given trajectory at the specified time."""
+        p = times / self.trajectory_lens[traj_idxs]
+        n = self.trajectory_num_frames[traj_idxs]
+        idx_low, idx_high = np.floor(p * n).astype(np.int64), np.ceil(p * n).astype(np.int64)
+        all_frame_starts = torch.zeros(len(traj_idxs), self.observation_dim, device=self.device)
+        all_frame_ends = torch.zeros(len(traj_idxs), self.observation_dim, device=self.device)
+        for traj_idx in set(traj_idxs):
+            trajectory = self.trajectories[traj_idx]
+            traj_mask = traj_idxs == traj_idx
+            all_frame_starts[traj_mask] = trajectory[idx_low[traj_mask]]
+            all_frame_ends[traj_mask] = trajectory[idx_high[traj_mask]]
+        blend = torch.tensor(p * n - idx_low, device=self.device, dtype=torch.float32).unsqueeze(-1)
+        return self.slerp(all_frame_starts, all_frame_ends, blend)
+
+    def get_full_frame_at_time(self, traj_idx, time):
+        """Returns full frame for the given trajectory at the specified time."""
+        p = float(time) / self.trajectory_lens[traj_idx]
+        n = self.trajectories_full[traj_idx].shape[0]
+        idx_low, idx_high = int(np.floor(p * n)), int(np.ceil(p * n))
+        frame_start = self.trajectories_full[traj_idx][idx_low]
+        frame_end = self.trajectories_full[traj_idx][idx_high]
+        blend = p * n - idx_low
+        return self.blend_frame_pose(frame_start, frame_end, blend)
+
+    def get_full_frame_at_time_batch(self, traj_idxs, times):
+        p = times / self.trajectory_lens[traj_idxs]             #(0 : (1*traj_time - 0.02ms)) / traj_time = 0 : 0.9 (每条轨迹的归一化时间)
+        n = self.trajectory_num_frames[traj_idxs]               #每个轨迹的帧数量
+        idx_low, idx_high = np.floor(p * n).astype(np.int64), np.ceil(p * n).astype(np.int64)   #p*n=每段轨迹的帧数量,获取帧数量的最大最小值
+        all_frame_pos_starts = torch.zeros(len(traj_idxs), AMPLoader.POS_SIZE, device=self.device)
+        all_frame_pos_ends = torch.zeros(len(traj_idxs), AMPLoader.POS_SIZE, device=self.device)
+        all_frame_rot_starts = torch.zeros(len(traj_idxs), AMPLoader.ROT_SIZE, device=self.device)
+        all_frame_rot_ends = torch.zeros(len(traj_idxs), AMPLoader.ROT_SIZE, device=self.device)
+        all_frame_amp_starts = torch.zeros(
+            len(traj_idxs), AMPLoader.JOINT_VEL_END_IDX - AMPLoader.JOINT_POSE_START_IDX, device=self.device
+        )
+        all_frame_amp_ends = torch.zeros(
+            len(traj_idxs), AMPLoader.JOINT_VEL_END_IDX - AMPLoader.JOINT_POSE_START_IDX, device=self.device
+        )
+        for traj_idx in set(traj_idxs):     #将轨迹转为不重复合集并遍历
+            trajectory = self.trajectories_full[traj_idx]       #获取当前轨迹的 #base_pos base_rot base_vel_l base_vel_a q v
+            traj_mask = traj_idxs == traj_idx   #获取与当前轨迹相同的掩码
+            all_frame_pos_starts[traj_mask] = AMPLoader.get_root_pos_batch(trajectory[idx_low[traj_mask]])
+            all_frame_pos_ends[traj_mask] = AMPLoader.get_root_pos_batch(trajectory[idx_high[traj_mask]])
+            all_frame_rot_starts[traj_mask] = AMPLoader.get_root_rot_batch(trajectory[idx_low[traj_mask]])
+            all_frame_rot_ends[traj_mask] = AMPLoader.get_root_rot_batch(trajectory[idx_high[traj_mask]])
+            all_frame_amp_starts[traj_mask] = trajectory[idx_low[traj_mask]][
+                :, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.JOINT_VEL_END_IDX
+            ]
+            all_frame_amp_ends[traj_mask] = trajectory[idx_high[traj_mask]][
+                :, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.JOINT_VEL_END_IDX
+            ]
+        blend = torch.tensor(p * n - idx_low, device=self.device, dtype=torch.float32).unsqueeze(-1)
+
+        pos_blend = self.slerp(all_frame_pos_starts, all_frame_pos_ends, blend)
+        rot_blend = amp_utils.quaternion_slerp(all_frame_rot_starts, all_frame_rot_ends, blend)
+        amp_blend = self.slerp(all_frame_amp_starts, all_frame_amp_ends, blend)
+        return torch.cat([pos_blend, rot_blend, amp_blend], dim=-1)
+
+    def get_frame(self):
+        """Returns random frame."""
+        traj_idx = self.weighted_traj_idx_sample()
+        sampled_time = self.traj_time_sample(traj_idx)
+        return self.get_frame_at_time(traj_idx, sampled_time)
+
+    def get_full_frame(self):
+        """Returns random full frame."""
+        traj_idx = self.weighted_traj_idx_sample()
+        sampled_time = self.traj_time_sample(traj_idx)
+        return self.get_full_frame_at_time(traj_idx, sampled_time)
+
+    def get_full_frame_batch(self, num_frames):
+        if self.preload_transitions:
+            idxs = np.random.choice(self.preloaded_s.shape[0], size=num_frames)
+            return self.preloaded_s[idxs]
+        else:
+            traj_idxs = self.weighted_traj_idx_sample_batch(num_frames)
+            times = self.traj_time_sample_batch(traj_idxs)
+            return self.get_full_frame_at_time_batch(traj_idxs, times)
+
+    def blend_frame_pose(self, frame0, frame1, blend):
+        """Linearly interpolate between two frames, including orientation.
+
+        Args:
+            frame0: First frame to be blended corresponds to (blend = 0).
+            frame1: Second frame to be blended corresponds to (blend = 1).
+            blend: Float between [0, 1], specifying the interpolation between
+            the two frames.
+        Returns:
+            An interpolation of the two frames.
+        """
+
+        root_pos0, root_pos1 = AMPLoader.get_root_pos(frame0), AMPLoader.get_root_pos(frame1)
+        root_rot0, root_rot1 = AMPLoader.get_root_rot(frame0), AMPLoader.get_root_rot(frame1)
+        joints0, joints1 = AMPLoader.get_joint_pose(frame0), AMPLoader.get_joint_pose(frame1)
+        tar_toe_pos_0, tar_toe_pos_1 = AMPLoader.get_tar_toe_pos_local(frame0), AMPLoader.get_tar_toe_pos_local(frame1)
+        linear_vel_0, linear_vel_1 = AMPLoader.get_linear_vel(frame0), AMPLoader.get_linear_vel(frame1)
+        angular_vel_0, angular_vel_1 = AMPLoader.get_angular_vel(frame0), AMPLoader.get_angular_vel(frame1)
+        joint_vel_0, joint_vel_1 = AMPLoader.get_joint_vel(frame0), AMPLoader.get_joint_vel(frame1)
+
+        blend_root_pos = self.slerp(root_pos0, root_pos1, blend)
+        blend_root_rot = transformations.quaternion_slerp(root_rot0.cpu().numpy(), root_rot1.cpu().numpy(), blend)
+        blend_root_rot = torch.tensor(
+            motion_util.standardize_quaternion(blend_root_rot), dtype=torch.float32, device=self.device
+        )
+        blend_joints = self.slerp(joints0, joints1, blend)
+        blend_tar_toe_pos = self.slerp(tar_toe_pos_0, tar_toe_pos_1, blend)
+        blend_linear_vel = self.slerp(linear_vel_0, linear_vel_1, blend)
+        blend_angular_vel = self.slerp(angular_vel_0, angular_vel_1, blend)
+        blend_joints_vel = self.slerp(joint_vel_0, joint_vel_1, blend)
+
+        return torch.cat(
+            [
+                blend_root_pos,
+                blend_root_rot,
+                blend_joints,
+                blend_tar_toe_pos,
+                blend_linear_vel,
+                blend_angular_vel,
+                blend_joints_vel,
+            ]
+        )
+
+    # joint_pos(0-19) foot_pos(20-31) base_lin_vel(32-34) base_ang_vel(35-37) joint_vel(38-47) z_pos(48)
+    # return torch.cat((joint_pos, foot_pos, base_lin_vel, base_ang_vel, joint_vel, z_pos), dim=-1)
+    def feed_forward_generator(self, num_mini_batch, mini_batch_size):
+        """Generates a batch of AMP transitions."""
+        for _ in range(num_mini_batch):
+            if self.preload_transitions:
+                mean = 0
+                std_dev = 0.05
+                idxs = np.random.choice(self.preloaded_s.shape[0], size=mini_batch_size)
+                s = self.preloaded_s[idxs, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.JOINT_VEL_END_IDX]
+                random_tensor = torch.randn(idxs.shape[0], 1, device=s.device)
+                random_tensor = random_tensor * std_dev + mean
+                random_tensor = random_tensor.squeeze()
+                # print(random_tensor.shape)
+                # print(s.shape)
+                # print(s[:,-3].shape)
+                # noise_tensor = torch.tensor(idxs.shape[0], device=s.device)
+                s[:,-3]+=random_tensor
+                s[:,-3]=torch.clamp(s[:,-3], min=0.1, max=2.3)
+                s = torch.cat(
+                    [s, self.preloaded_s[idxs, AMPLoader.ROOT_POS_START_IDX + 2 : AMPLoader.ROOT_POS_START_IDX + 3]],
+                    dim=-1,
+                )
+                s_next = self.preloaded_s_next[idxs, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.JOINT_VEL_END_IDX]
+                s_next[:,-3]+=random_tensor
+                s_next[:,-3]=torch.clamp(s_next[:,-3], min=0.1, max=2.3)
+                s_next = torch.cat(
+                    [
+                        s_next,
+                        self.preloaded_s_next[
+                            idxs, AMPLoader.ROOT_POS_START_IDX + 2 : AMPLoader.ROOT_POS_START_IDX + 3
+                        ],
+                    ],
+                    dim=-1,
+                )
+            else:
+                s, s_next = [], []
+                traj_idxs = self.weighted_traj_idx_sample_batch(mini_batch_size)
+                times = self.traj_time_sample_batch(traj_idxs)
+                for traj_idx, frame_time in zip(traj_idxs, times):
+                    s.append(self.get_frame_at_time(traj_idx, frame_time))
+                    s_next.append(self.get_frame_at_time(traj_idx, frame_time + self.time_between_frames))
+
+                s = torch.vstack(s)
+                s_next = torch.vstack(s_next)
+            yield s, s_next
+
+    @property
+    def observation_dim(self):
+        """Size of AMP observations."""
+        # return self.trajectories[0].shape[1] + 1  #应该是 #base_vel_l base_vel_a q v + base_h
+
+        # joint_pos(0-19) foot_pos(20-31) base_lin_vel(32-34) base_ang_vel(35-37) joint_vel(38-47) z_pos(48)
+        # return torch.cat((joint_pos, foot_pos, base_lin_vel, base_ang_vel, joint_vel, z_pos), dim=-1)
+        return AMPLoader.JOINT_POS_SIZE+AMPLoader.TAR_TOE_POS_LOCAL_SIZE+3+3+AMPLoader.JOINT_VEL_SIZE+1
+
+
+    @property
+    def num_motions(self):
+        return len(self.trajectory_names)
+
+    @staticmethod
+    def get_root_pos(pose):
+        return pose[AMPLoader.ROOT_POS_START_IDX : AMPLoader.ROOT_POS_END_IDX]
+
+    @staticmethod
+    def get_root_pos_batch(poses):
+        return poses[:, AMPLoader.ROOT_POS_START_IDX : AMPLoader.ROOT_POS_END_IDX]
+
+    @staticmethod
+    def get_root_rot(pose):
+        return pose[AMPLoader.ROOT_ROT_START_IDX : AMPLoader.ROOT_ROT_END_IDX]
+
+    @staticmethod
+    def get_root_rot_batch(poses):
+        return poses[:, AMPLoader.ROOT_ROT_START_IDX : AMPLoader.ROOT_ROT_END_IDX]
+
+    @staticmethod
+    def get_joint_pose(pose):
+        return pose[AMPLoader.JOINT_POSE_START_IDX : AMPLoader.JOINT_POSE_END_IDX]
+
+    @staticmethod
+    def get_joint_pose_batch(poses):
+        return poses[:, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.JOINT_POSE_END_IDX]
+
+    # @staticmethod
+    # def get_tar_toe_pos_local(pose):
+    #     return pose[AMPLoader.TAR_TOE_POS_LOCAL_START_IDX : AMPLoader.TAR_TOE_POS_LOCAL_END_IDX]
+
+    # @staticmethod
+    # def get_tar_toe_pos_local_batch(poses):
+    #     return poses[:, AMPLoader.TAR_TOE_POS_LOCAL_START_IDX : AMPLoader.TAR_TOE_POS_LOCAL_END_IDX]
+
+    @staticmethod
+    def get_linear_vel(pose):
+        return pose[AMPLoader.LINEAR_VEL_START_IDX : AMPLoader.LINEAR_VEL_END_IDX]
+
+    @staticmethod
+    def get_linear_vel_batch(poses):
+        return poses[:, AMPLoader.LINEAR_VEL_START_IDX : AMPLoader.LINEAR_VEL_END_IDX]
+
+    @staticmethod
+    def get_angular_vel(pose):
+        return pose[AMPLoader.ANGULAR_VEL_START_IDX : AMPLoader.ANGULAR_VEL_END_IDX]
+
+    @staticmethod
+    def get_angular_vel_batch(poses):
+        return poses[:, AMPLoader.ANGULAR_VEL_START_IDX : AMPLoader.ANGULAR_VEL_END_IDX]
+
+    @staticmethod
+    def get_joint_vel(pose):
+        return pose[AMPLoader.JOINT_VEL_START_IDX : AMPLoader.JOINT_VEL_END_IDX]
+
+    @staticmethod
+    def get_joint_vel_batch(poses):
+        return poses[:, AMPLoader.JOINT_VEL_START_IDX : AMPLoader.JOINT_VEL_END_IDX]
+
+    # @staticmethod
+    # def get_tar_toe_vel_local(pose):
+    #     return pose[AMPLoader.TAR_TOE_VEL_LOCAL_START_IDX : AMPLoader.TAR_TOE_VEL_LOCAL_END_IDX]
+
+    # @staticmethod
+    # def get_tar_toe_vel_local_batch(poses):
+    #     return poses[:, AMPLoader.TAR_TOE_VEL_LOCAL_START_IDX : AMPLoader.TAR_TOE_VEL_LOCAL_END_IDX]

humanoid/algo/loadamp/motion_loader.py

+import os
+import glob
+import json
+import logging
+
+import torch
+import numpy as np
+from pybullet_utils import transformations
+
+from . import pose3d
+from . import motion_util
+from . import amp_utils
+
+import glob
+import json
+import numpy as np
+import torch
+
+
+class AMPLoader:
+
+    # root_pos, root_rot, joint_pos, foot_pos, lin_vel, ang_vel, joint_vel, foot_vel
+    POS_SIZE = 3  # base pos
+    ROT_SIZE = 4  # base rot
+    LINEAR_VEL_SIZE = 3  # base v
+    ANGULAR_VEL_SIZE = 3  # base omega
+    JOINT_POS_SIZE = 20  # joint theta
+    JOINT_VEL_SIZE = 20  # joint dtheta
+    TAR_TOE_POS_LOCAL_SIZE = 12  # foot pos
+    # TAR_TOE_VEL_LOCAL_SIZE = 12  # foot v
+
+    ROOT_POS_START_IDX = 0
+    ROOT_POS_END_IDX = ROOT_POS_START_IDX + POS_SIZE
+
+    ROOT_ROT_START_IDX = ROOT_POS_END_IDX
+    ROOT_ROT_END_IDX = ROOT_ROT_START_IDX + ROT_SIZE
+
+    JOINT_POSE_START_IDX = ROOT_ROT_END_IDX
+    JOINT_POSE_END_IDX = JOINT_POSE_START_IDX + JOINT_POS_SIZE
+    REAL_JOINT_POSE_END_IDX = JOINT_POSE_START_IDX + JOINT_POS_SIZE - 8
+
+    TAR_TOE_POS_LOCAL_START_IDX = JOINT_POSE_END_IDX
+    TAR_TOE_POS_LOCAL_END_IDX = TAR_TOE_POS_LOCAL_START_IDX + TAR_TOE_POS_LOCAL_SIZE
+    REAL_TAR_TOE_POS_LOCAL_END_IDX = TAR_TOE_POS_LOCAL_START_IDX + TAR_TOE_POS_LOCAL_SIZE - 6
+
+    LINEAR_VEL_START_IDX = TAR_TOE_POS_LOCAL_END_IDX
+    LINEAR_VEL_END_IDX = LINEAR_VEL_START_IDX + LINEAR_VEL_SIZE
+
+    ANGULAR_VEL_START_IDX = LINEAR_VEL_END_IDX
+    ANGULAR_VEL_END_IDX = ANGULAR_VEL_START_IDX + ANGULAR_VEL_SIZE
+
+    JOINT_VEL_START_IDX = ANGULAR_VEL_END_IDX
+    JOINT_VEL_END_IDX = JOINT_VEL_START_IDX + JOINT_VEL_SIZE 
+    REAL_JOINT_VEL_END_IDX = JOINT_VEL_START_IDX + JOINT_VEL_SIZE - 8
+
+
+    def __init__(
+        self,
+        device,
+        time_between_frames,
+        data_dir="",
+        preload_transitions=False,
+        num_preload_transitions=1000000,
+        motion_files=glob.glob(""),
+    ):
+        """Expert dataset provides AMP observations from Dog mocap dataset.
+
+        time_between_frames: Amount of time in seconds between transition.
+        """
+        self.device = device
+        self.time_between_frames = time_between_frames #dt*dec=0.005*4=20ms
+
+        # Values to store for each trajectory.
+        self.trajectories = []
+        self.trajectories_full = []
+        self.trajectory_names = []
+        self.trajectory_idxs = []
+        self.trajectory_lens = []  # Traj length in seconds.
+        self.trajectory_weights = []
+        self.trajectory_frame_durations = []
+        self.trajectory_num_frames = []
+        print(f"Loading {motion_files}...")
+        for i, motion_file in enumerate(motion_files):
+            self.trajectory_names.append(motion_file.split(".")[0])
+            with open(motion_file) as f:
+                motion_json = json.load(f)
+                motion_data = np.array(motion_json["Frames"])
+                # motion_data = self.reorder_from_pybullet_to_isaac(motion_data)
+
+                # Normalize and standardize quaternions.
+                for f_i in range(motion_data.shape[0]):
+                    root_rot = AMPLoader.get_root_rot(motion_data[f_i])
+                    root_rot = pose3d.QuaternionNormalize(root_rot)
+                    root_rot = motion_util.standardize_quaternion(root_rot)
+                    motion_data[f_i, AMPLoader.POS_SIZE : (AMPLoader.POS_SIZE + AMPLoader.ROT_SIZE)] = root_rot
+
+                # Remove first 7 observation dimensions (root_pos and root_orn).
+                self.trajectories.append(
+                    torch.tensor(
+                        motion_data[:, AMPLoader.ROOT_ROT_END_IDX : AMPLoader.JOINT_VEL_END_IDX], #base_vel_l base_vel_a q v
+                        dtype=torch.float32,
+                        device=device,
+                    )
+                )
+                self.trajectories_full.append(
+                    torch.tensor(motion_data[:, : AMPLoader.JOINT_VEL_END_IDX], dtype=torch.float32, device=device) #base_pos base_rot base_vel_l base_vel_a q v
+                )
+                self.trajectory_idxs.append(i)
+                self.trajectory_weights.append(float(motion_json["MotionWeight"]))
+                frame_duration = float(motion_json["FrameDuration"])
+                self.trajectory_frame_durations.append(frame_duration)
+                traj_len = (motion_data.shape[0] - 1) * frame_duration
+                self.trajectory_lens.append(traj_len) #轨迹时间长度
+                self.trajectory_num_frames.append(float(motion_data.shape[0]))
+
+            print(f"Loaded {traj_len}s. motion from {motion_file}.")
+
+        # Trajectory weights are used to sample some trajectories more than others.
+        self.trajectory_weights = np.array(self.trajectory_weights) / np.sum(self.trajectory_weights)
+        self.trajectory_frame_durations = np.array(self.trajectory_frame_durations) #帧时间
+        self.trajectory_lens = np.array(self.trajectory_lens)
+        self.trajectory_num_frames = np.array(self.trajectory_num_frames)
+
+        # Preload transitions.
+        self.preload_transitions = preload_transitions
+        if self.preload_transitions:
+            print(f"Preloading {num_preload_transitions} transitions")
+            traj_idxs = self.weighted_traj_idx_sample_batch(num_preload_transitions) #根据权重采样指定长度的轨迹序列 (2000000条)
+            times = self.traj_time_sample_batch(traj_idxs)                           #(0 : (1*traj_time - 0.02ms)) 单条轨迹的持续时间
+            self.preloaded_s = self.get_full_frame_at_time_batch(traj_idxs, times)
+            self.preloaded_s_next = self.get_full_frame_at_time_batch(traj_idxs, times + self.time_between_frames)
+
+            print(self.get_joint_pose_batch(self.preloaded_s).mean(dim=0))
+            print("Finished preloading")
+
+        self.all_trajectories_full = torch.vstack(self.trajectories_full)
+
+    def reorder_from_mujuco_to_isaacgym_tool(self, joint_tensor):
+        # # Convert to a 4x3 tensor
+        # reshaped_tensor = torch.reshape(joint_tensor, (-1, 4, 3))
+        # # Transpose the tensor
+        # transposed_tensor = torch.transpose(reshaped_tensor, 1, 2)
+        # # Flatten the tensor to 1 dimension
+        # rearranged_tensor = torch.reshape(transposed_tensor, (-1, 12))
+        # return rearranged_tensor
+        # a=joint_tensor[:,[0,12,6,16,1,13,7,17,2,14,8,18,3,15,9,19,4,10,5,11]]
+        # return a[:,[0,4,8,12,16,18,1,5,9,13,2,6,10,14,17,19,3,7,11,15]]
+        return joint_tensor[:,[0,1,2,3,4,5,6,7,8,9,10,11]]
+        # return joint_tensor[:,[0,6,1,7,2,8,3,9,4,10,5,11]]
+    
+
+    def reorder_from_isaacgym_to_mujuco_tool(self, joint_tensor):
+        # # Convert to a 3x4 tensor
+        # reshaped_tensor = torch.reshape(joint_tensor, (-1, 3, 4))
+        # # Transpose the tensor
+        # transposed_tensor = torch.transpose(reshaped_tensor, 1, 2)
+        # # Flatten the tensor to 1 dimension
+        # rearranged_tensor = torch.reshape(transposed_tensor, (-1, 12))
+        # return rearranged_tensor
+        # a=joint_tensor[:,[0,6,10,16,1,7,11,17,2,8,12,18,3,9,13,19,4,14,5,15]]
+        # return a[:,[0,4,8,12,16,18, 2,6,10,14,17,19, 1,5,9,13, 3,7,11,15]]
+        # return joint_tensor[:,[0,2,4,6,8,10,1,3,5,7,9,11]]
+        return joint_tensor[:,[0,1,2,3,4,5,6,7,8,9,10,11]]
+
+
+    def reorder_from_pybullet_to_isaac(self, motion_data):
+        """Convert from PyBullet ordering to Isaac ordering.
+
+        Rearranges leg and joint order from PyBullet [FR, FL, RR, RL] to
+        IsaacGym order [FL, FR, RL, RR].
+        """
+        # 获取根节点位置
+        root_pos = AMPLoader.get_root_pos_batch(motion_data)
+        # 获取根节点旋转
+        root_rot = AMPLoader.get_root_rot_batch(motion_data)
+
+        # 获取关节位置
+        jp_fr, jp_fl, jp_rr, jp_rl = np.split(AMPLoader.get_joint_pose_batch(motion_data), 4, axis=1)
+        joint_pos = np.hstack([jp_fl, jp_fr, jp_rl, jp_rr])
+
+        fp_fr, fp_fl, fp_rr, fp_rl = np.split(AMPLoader.get_tar_toe_pos_local_batch(motion_data), 4, axis=1)
+        foot_pos = np.hstack([fp_fl, fp_fr, fp_rl, fp_rr])
+
+        lin_vel = AMPLoader.get_linear_vel_batch(motion_data)
+        ang_vel = AMPLoader.get_angular_vel_batch(motion_data)
+
+        jv_fr, jv_fl, jv_rr, jv_rl = np.split(AMPLoader.get_joint_vel_batch(motion_data), 4, axis=1)
+        joint_vel = np.hstack([jv_fl, jv_fr, jv_rl, jv_rr])
+
+        fv_fr, fv_fl, fv_rr, fv_rl = np.split(AMPLoader.get_tar_toe_vel_local_batch(motion_data), 4, axis=1)
+        foot_vel = np.hstack([fv_fl, fv_fr, fv_rl, fv_rr])
+
+        return np.hstack([root_pos, root_rot, joint_pos, foot_pos, lin_vel, ang_vel, joint_vel, foot_vel])
+
+    def weighted_traj_idx_sample(self):
+        """Get traj idx via weighted sampling."""
+        return np.random.choice(self.trajectory_idxs, p=self.trajectory_weights)
+
+    def weighted_traj_idx_sample_batch(self, size):
+        """Batch sample traj idxs."""
+        return np.random.choice(self.trajectory_idxs, size=size, p=self.trajectory_weights, replace=True)
+
+    def traj_time_sample(self, traj_idx):
+        """Sample random time for traj."""
+        subst = self.time_between_frames + self.trajectory_frame_durations[traj_idx]
+        return max(0, (self.trajectory_lens[traj_idx] * np.random.uniform() - subst))
+
+    def traj_time_sample_batch(self, traj_idxs):
+        """Sample random time for multiple trajectories."""
+        subst = self.time_between_frames + self.trajectory_frame_durations[traj_idxs] #策略执行时间+动捕帧时间
+        time_samples = self.trajectory_lens[traj_idxs] * np.random.uniform(size=len(traj_idxs)) - subst #单条轨迹时间长度归一化 - subset(0.02)
+        return np.maximum(np.zeros_like(time_samples), time_samples) #(0 - (1*traj_time - 0.02ms))
+
+    def slerp(self, val0, val1, blend):
+        return (1.0 - blend) * val0 + blend * val1
+
+    def get_trajectory(self, traj_idx):
+        """Returns trajectory of AMP observations."""
+        return self.trajectories_full[traj_idx]
+
+    def get_frame_at_time(self, traj_idx, time):
+        """Returns frame for the given trajectory at the specified time."""
+        p = float(time) / self.trajectory_lens[traj_idx]
+        n = self.trajectories[traj_idx].shape[0]
+        idx_low, idx_high = int(np.floor(p * n)), int(np.ceil(p * n))
+        frame_start = self.trajectories[traj_idx][idx_low]
+        frame_end = self.trajectories[traj_idx][idx_high]
+        blend = p * n - idx_low
+        return self.slerp(frame_start, frame_end, blend)
+
+    def get_frame_at_time_batch(self, traj_idxs, times):
+        """Returns frame for the given trajectory at the specified time."""
+        p = times / self.trajectory_lens[traj_idxs]
+        n = self.trajectory_num_frames[traj_idxs]
+        idx_low, idx_high = np.floor(p * n).astype(np.int64), np.ceil(p * n).astype(np.int64)
+        all_frame_starts = torch.zeros(len(traj_idxs), self.observation_dim, device=self.device)
+        all_frame_ends = torch.zeros(len(traj_idxs), self.observation_dim, device=self.device)
+        for traj_idx in set(traj_idxs):
+            trajectory = self.trajectories[traj_idx]
+            traj_mask = traj_idxs == traj_idx
+            all_frame_starts[traj_mask] = trajectory[idx_low[traj_mask]]
+            all_frame_ends[traj_mask] = trajectory[idx_high[traj_mask]]
+        blend = torch.tensor(p * n - idx_low, device=self.device, dtype=torch.float32).unsqueeze(-1)
+        return self.slerp(all_frame_starts, all_frame_ends, blend)
+
+    def get_full_frame_at_time(self, traj_idx, time):
+        """Returns full frame for the given trajectory at the specified time."""
+        p = float(time) / self.trajectory_lens[traj_idx]
+        n = self.trajectories_full[traj_idx].shape[0]
+        idx_low, idx_high = int(np.floor(p * n)), int(np.ceil(p * n))
+        frame_start = self.trajectories_full[traj_idx][idx_low]
+        frame_end = self.trajectories_full[traj_idx][idx_high]
+        blend = p * n - idx_low
+        return self.blend_frame_pose(frame_start, frame_end, blend)
+
+    def get_full_frame_at_time_batch(self, traj_idxs, times):
+        p = times / self.trajectory_lens[traj_idxs]             #(0 : (1*traj_time - 0.02ms)) / traj_time = 0 : 0.9 (每条轨迹的归一化时间)
+        n = self.trajectory_num_frames[traj_idxs]               #每个轨迹的帧数量
+        idx_low, idx_high = np.floor(p * n).astype(np.int64), np.ceil(p * n).astype(np.int64)   #p*n=每段轨迹的帧数量,获取帧数量的最大最小值
+        all_frame_pos_starts = torch.zeros(len(traj_idxs), AMPLoader.POS_SIZE, device=self.device)
+        all_frame_pos_ends = torch.zeros(len(traj_idxs), AMPLoader.POS_SIZE, device=self.device)
+        all_frame_rot_starts = torch.zeros(len(traj_idxs), AMPLoader.ROT_SIZE, device=self.device)
+        all_frame_rot_ends = torch.zeros(len(traj_idxs), AMPLoader.ROT_SIZE, device=self.device)
+        all_frame_amp_starts = torch.zeros(
+            len(traj_idxs), AMPLoader.JOINT_VEL_END_IDX - AMPLoader.JOINT_POSE_START_IDX, device=self.device
+        )
+        all_frame_amp_ends = torch.zeros(
+            len(traj_idxs), AMPLoader.JOINT_VEL_END_IDX - AMPLoader.JOINT_POSE_START_IDX, device=self.device
+        )
+        for traj_idx in set(traj_idxs):     #将轨迹转为不重复合集并遍历
+            trajectory = self.trajectories_full[traj_idx]       #获取当前轨迹的 #base_pos base_rot base_vel_l base_vel_a q v
+            traj_mask = traj_idxs == traj_idx   #获取与当前轨迹相同的掩码
+            all_frame_pos_starts[traj_mask] = AMPLoader.get_root_pos_batch(trajectory[idx_low[traj_mask]])
+            all_frame_pos_ends[traj_mask] = AMPLoader.get_root_pos_batch(trajectory[idx_high[traj_mask]])
+            all_frame_rot_starts[traj_mask] = AMPLoader.get_root_rot_batch(trajectory[idx_low[traj_mask]])
+            all_frame_rot_ends[traj_mask] = AMPLoader.get_root_rot_batch(trajectory[idx_high[traj_mask]])
+            all_frame_amp_starts[traj_mask] = trajectory[idx_low[traj_mask]][
+                :, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.JOINT_VEL_END_IDX
+            ]
+            all_frame_amp_ends[traj_mask] = trajectory[idx_high[traj_mask]][
+                :, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.JOINT_VEL_END_IDX
+            ]
+        blend = torch.tensor(p * n - idx_low, device=self.device, dtype=torch.float32).unsqueeze(-1)
+
+        pos_blend = self.slerp(all_frame_pos_starts, all_frame_pos_ends, blend)
+        rot_blend = amp_utils.quaternion_slerp(all_frame_rot_starts, all_frame_rot_ends, blend)
+        amp_blend = self.slerp(all_frame_amp_starts, all_frame_amp_ends, blend)
+        return torch.cat([pos_blend, rot_blend, amp_blend], dim=-1)
+
+    def get_frame(self):
+        """Returns random frame."""
+        traj_idx = self.weighted_traj_idx_sample()
+        sampled_time = self.traj_time_sample(traj_idx)
+        return self.get_frame_at_time(traj_idx, sampled_time)
+
+    def get_full_frame(self):
+        """Returns random full frame."""
+        traj_idx = self.weighted_traj_idx_sample()
+        sampled_time = self.traj_time_sample(traj_idx)
+        return self.get_full_frame_at_time(traj_idx, sampled_time)
+
+    def get_full_frame_batch(self, num_frames):
+        if self.preload_transitions:
+            idxs = np.random.choice(self.preloaded_s.shape[0], size=num_frames)
+            return self.preloaded_s[idxs]
+        else:
+            traj_idxs = self.weighted_traj_idx_sample_batch(num_frames)
+            times = self.traj_time_sample_batch(traj_idxs)
+            return self.get_full_frame_at_time_batch(traj_idxs, times)
+
+    def blend_frame_pose(self, frame0, frame1, blend):
+        """Linearly interpolate between two frames, including orientation.
+
+        Args:
+            frame0: First frame to be blended corresponds to (blend = 0).
+            frame1: Second frame to be blended corresponds to (blend = 1).
+            blend: Float between [0, 1], specifying the interpolation between
+            the two frames.
+        Returns:
+            An interpolation of the two frames.
+        """
+
+        root_pos0, root_pos1 = AMPLoader.get_root_pos(frame0), AMPLoader.get_root_pos(frame1)
+        root_rot0, root_rot1 = AMPLoader.get_root_rot(frame0), AMPLoader.get_root_rot(frame1)
+        joints0, joints1 = AMPLoader.get_joint_pose(frame0), AMPLoader.get_joint_pose(frame1)
+        tar_toe_pos_0, tar_toe_pos_1 = AMPLoader.get_tar_toe_pos_local(frame0), AMPLoader.get_tar_toe_pos_local(frame1)
+        linear_vel_0, linear_vel_1 = AMPLoader.get_linear_vel(frame0), AMPLoader.get_linear_vel(frame1)
+        angular_vel_0, angular_vel_1 = AMPLoader.get_angular_vel(frame0), AMPLoader.get_angular_vel(frame1)
+        joint_vel_0, joint_vel_1 = AMPLoader.get_joint_vel(frame0), AMPLoader.get_joint_vel(frame1)
+
+        blend_root_pos = self.slerp(root_pos0, root_pos1, blend)
+        blend_root_rot = transformations.quaternion_slerp(root_rot0.cpu().numpy(), root_rot1.cpu().numpy(), blend)
+        blend_root_rot = torch.tensor(
+            motion_util.standardize_quaternion(blend_root_rot), dtype=torch.float32, device=self.device
+        )
+        blend_joints = self.slerp(joints0, joints1, blend)
+        blend_tar_toe_pos = self.slerp(tar_toe_pos_0, tar_toe_pos_1, blend)
+        blend_linear_vel = self.slerp(linear_vel_0, linear_vel_1, blend)
+        blend_angular_vel = self.slerp(angular_vel_0, angular_vel_1, blend)
+        blend_joints_vel = self.slerp(joint_vel_0, joint_vel_1, blend)
+
+        return torch.cat(
+            [
+                blend_root_pos,
+                blend_root_rot,
+                blend_joints,
+                blend_tar_toe_pos,
+                blend_linear_vel,
+                blend_angular_vel,
+                blend_joints_vel,
+            ]
+        )
+
+    # joint_pos(0-19) foot_pos(20-31) base_lin_vel(32-34) base_ang_vel(35-37) joint_vel(38-47) z_pos(48)
+    # return torch.cat((joint_pos, foot_pos, base_lin_vel, base_ang_vel, joint_vel, z_pos), dim=-1)
+    def feed_forward_generator(self, num_mini_batch, mini_batch_size):
+        """Generates a batch of AMP transitions."""
+        for _ in range(num_mini_batch):
+            if self.preload_transitions:
+                mean = 0
+                std_dev = 0.05
+                # random_tensor = random_tensor * std_dev + mean
+                # random_tensor = random_tensor.squeeze() # if need, add noise
+
+                idxs = np.random.choice(self.preloaded_s.shape[0], size=mini_batch_size)
+                s = self.preloaded_s[idxs, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.REAL_JOINT_POSE_END_IDX] #yzh comment:no lin vel
+                s = torch.cat([s,self.preloaded_s[idxs, AMPLoader.TAR_TOE_POS_LOCAL_START_IDX : AMPLoader.REAL_TAR_TOE_POS_LOCAL_END_IDX]],dim=-1)
+                s = torch.cat([s,self.preloaded_s[idxs, AMPLoader.LINEAR_VEL_START_IDX : AMPLoader.REAL_JOINT_VEL_END_IDX]],dim=-1)
+
+                s = torch.cat(
+                    [s, self.preloaded_s[idxs, AMPLoader.ROOT_POS_START_IDX + 2 : AMPLoader.ROOT_POS_START_IDX + 3]],
+                    dim=-1,
+                )
+                s_next = self.preloaded_s_next[idxs, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.REAL_JOINT_POSE_END_IDX] #yzh comment:no lin vel
+                s_next = torch.cat([s_next,self.preloaded_s_next[idxs, AMPLoader.TAR_TOE_POS_LOCAL_START_IDX : AMPLoader.REAL_TAR_TOE_POS_LOCAL_END_IDX]],dim=-1)
+                s_next = torch.cat([s_next,self.preloaded_s_next[idxs, AMPLoader.LINEAR_VEL_START_IDX : AMPLoader.REAL_JOINT_VEL_END_IDX]],dim=-1)          
+                s_next = torch.cat(
+                    [
+                        s_next,
+                        self.preloaded_s_next[
+                            idxs, AMPLoader.ROOT_POS_START_IDX + 2 : AMPLoader.ROOT_POS_START_IDX + 3
+                        ],
+                    ],
+                    dim=-1,
+                )
+            else:
+                s, s_next = [], []
+                traj_idxs = self.weighted_traj_idx_sample_batch(mini_batch_size)
+                times = self.traj_time_sample_batch(traj_idxs)
+                for traj_idx, frame_time in zip(traj_idxs, times):
+                    s.append(self.get_frame_at_time(traj_idx, frame_time))
+                    s_next.append(self.get_frame_at_time(traj_idx, frame_time + self.time_between_frames))
+
+                s = torch.vstack(s)
+                s_next = torch.vstack(s_next)
+            yield s, s_next
+
+    @property
+    def observation_dim(self):
+        """Size of AMP observations."""
+        # return self.trajectories[0].shape[1] + 1  #应该是 #base_vel_l base_vel_a q v + base_h
+
+        # joint_pos(0-19) foot_pos(20-31) base_lin_vel(32-34) base_ang_vel(35-37) joint_vel(38-47) z_pos(48)
+        # return torch.cat((joint_pos, foot_pos, base_lin_vel, base_ang_vel, joint_vel, z_pos), dim=-1)
+        return AMPLoader.JOINT_POS_SIZE+AMPLoader.TAR_TOE_POS_LOCAL_SIZE+3+3+AMPLoader.JOINT_VEL_SIZE+1-22 #yzh comment: because wrong urdf
+
+
+    @property
+    def num_motions(self):
+        return len(self.trajectory_names)
+
+    @staticmethod
+    def get_root_pos(pose):
+        return pose[AMPLoader.ROOT_POS_START_IDX : AMPLoader.ROOT_POS_END_IDX]
+
+    @staticmethod
+    def get_root_pos_batch(poses):
+        return poses[:, AMPLoader.ROOT_POS_START_IDX : AMPLoader.ROOT_POS_END_IDX]
+
+    @staticmethod
+    def get_root_rot(pose):
+        return pose[AMPLoader.ROOT_ROT_START_IDX : AMPLoader.ROOT_ROT_END_IDX]
+
+    @staticmethod
+    def get_root_rot_batch(poses):
+        return poses[:, AMPLoader.ROOT_ROT_START_IDX : AMPLoader.ROOT_ROT_END_IDX]
+
+    @staticmethod
+    @staticmethod
+    def get_joint_pose(pose):
+        return pose[AMPLoader.JOINT_POSE_START_IDX : AMPLoader.REAL_JOINT_POSE_END_IDX]
+
+    @staticmethod
+    def get_joint_pose_batch(poses):
+        return poses[:, AMPLoader.JOINT_POSE_START_IDX : AMPLoader.REAL_JOINT_POSE_END_IDX]
+
+    @staticmethod
+    def get_tar_toe_pos_local(pose):
+        return pose[AMPLoader.TAR_TOE_POS_LOCAL_START_IDX : AMPLoader.REAL_TAR_TOE_POS_LOCAL_END_IDX]
+
+    @staticmethod
+    def get_tar_toe_pos_local_batch(poses):
+        return poses[:, AMPLoader.TAR_TOE_POS_LOCAL_START_IDX : AMPLoader.REAL_TAR_TOE_POS_LOCAL_END_IDX]
+
+    @staticmethod
+    def get_linear_vel(pose):
+        return pose[AMPLoader.LINEAR_VEL_START_IDX : AMPLoader.LINEAR_VEL_END_IDX]
+
+    @staticmethod
+    def get_linear_vel_batch(poses):
+        return poses[:, AMPLoader.LINEAR_VEL_START_IDX : AMPLoader.LINEAR_VEL_END_IDX]
+
+    @staticmethod
+    def get_angular_vel(pose):
+        return pose[AMPLoader.ANGULAR_VEL_START_IDX : AMPLoader.ANGULAR_VEL_END_IDX]
+
+    @staticmethod
+    def get_angular_vel_batch(poses):
+        return poses[:, AMPLoader.ANGULAR_VEL_START_IDX : AMPLoader.ANGULAR_VEL_END_IDX]
+
+    @staticmethod
+    def get_joint_vel(pose):
+        return pose[AMPLoader.JOINT_VEL_START_IDX : AMPLoader.REAL_JOINT_VEL_END_IDX]
+
+    @staticmethod
+    def get_joint_vel_batch(poses):
+        return poses[:, AMPLoader.JOINT_VEL_START_IDX : AMPLoader.REAL_JOINT_VEL_END_IDX]
+
+    @staticmethod
+    def get_tar_toe_vel_local(pose):
+        return pose[AMPLoader.TAR_TOE_VEL_LOCAL_START_IDX : AMPLoader.TAR_TOE_VEL_LOCAL_END_IDX]
+
+    @staticmethod
+    def get_tar_toe_vel_local_batch(poses):
+        return poses[:, AMPLoader.TAR_TOE_VEL_LOCAL_START_IDX : AMPLoader.TAR_TOE_VEL_LOCAL_END_IDX]

humanoid/algo/loadamp/motion_util.py

+# coding=utf-8
+# Copyright 2020 The Google Research Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Utility functions for processing motion clips."""
+
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0, parentdir)
+
+import numpy as np
+
+from .pose3d import *
+from pybullet_utils import transformations
+
+
+def standardize_quaternion(q):
+  """Returns a quaternion where q.w >= 0 to remove redundancy due to q = -q.
+
+  Args:
+    q: A quaternion to be standardized.
+
+  Returns:
+    A quaternion with q.w >= 0.
+
+  """
+  if q[-1] < 0:
+    q = -q
+  return q
+
+
+def normalize_rotation_angle(theta):
+  """Returns a rotation angle normalized between [-pi, pi].
+
+  Args:
+    theta: angle of rotation (radians).
+
+  Returns:
+    An angle of rotation normalized between [-pi, pi].
+
+  """
+  norm_theta = theta
+  if np.abs(norm_theta) > np.pi:
+    norm_theta = np.fmod(norm_theta, 2 * np.pi)
+    if norm_theta >= 0:
+      norm_theta += -2 * np.pi
+    else:
+      norm_theta += 2 * np.pi
+
+  return norm_theta
+
+
+def calc_heading(q):
+  """Returns the heading of a rotation q, specified as a quaternion.
+
+  The heading represents the rotational component of q along the vertical
+  axis (z axis).
+
+  Args:
+    q: A quaternion that the heading is to be computed from.
+
+  Returns:
+    An angle representing the rotation about the z axis.
+
+  """
+  ref_dir = np.array([1, 0, 0])
+  rot_dir = pose3d.QuaternionRotatePoint(ref_dir, q)
+  heading = np.arctan2(rot_dir[1], rot_dir[0])
+  return heading
+
+
+def calc_heading_rot(q):
+  """Return a quaternion representing the heading rotation of q along the vertical axis (z axis).
+
+  Args:
+    q: A quaternion that the heading is to be computed from.
+
+  Returns:
+    A quaternion representing the rotation about the z axis.
+
+  """
+  heading = calc_heading(q)
+  q_heading = transformations.quaternion_about_axis(heading, [0, 0, 1])
+  return q_heading

humanoid/algo/loadamp/pose3d.py

+# coding=utf-8
+# Copyright 2020 The Google Research Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""Utilities for 3D pose conversion."""
+import math
+import numpy as np
+
+from pybullet_utils import transformations
+
+VECTOR3_0 = np.zeros(3, dtype=np.float64)
+VECTOR3_1 = np.ones(3, dtype=np.float64)
+VECTOR3_X = np.array([1, 0, 0], dtype=np.float64)
+VECTOR3_Y = np.array([0, 1, 0], dtype=np.float64)
+VECTOR3_Z = np.array([0, 0, 1], dtype=np.float64)
+
+# QUATERNION_IDENTITY is the multiplicative identity 1.0 + 0i + 0j + 0k.
+# When interpreted as a rotation, it is the identity rotation.
+QUATERNION_IDENTITY = np.array([0.0, 0.0, 0.0, 1.0], dtype=np.float64)
+
+
+def Vector3RandomNormal(sigma, mu=VECTOR3_0):
+  """Returns a random 3D vector from a normal distribution.
+
+  Each component is selected independently from a normal distribution.
+
+  Args:
+    sigma: Scale (or stddev) of distribution for all variables.
+    mu: Mean of distribution for each variable.
+
+  Returns:
+    A 3D vector in a numpy array.
+  """
+
+  random_v3 = np.random.normal(scale=sigma, size=3) + mu
+  return random_v3
+
+
+def Vector3RandomUniform(low=VECTOR3_0, high=VECTOR3_1):
+  """Returns a 3D vector selected uniformly from the input box.
+
+  Args:
+    low: The min-value corner of the box.
+    high: The max-value corner of the box.
+
+  Returns:
+    A 3D vector in a numpy array.
+  """
+
+  random_x = np.random.uniform(low=low[0], high=high[0])
+  random_y = np.random.uniform(low=low[1], high=high[1])
+  random_z = np.random.uniform(low=low[2], high=high[2])
+  return np.array([random_x, random_y, random_z])
+
+
+def Vector3RandomUnit():
+  """Returns a random 3D vector with unit length.
+
+  Generates a 3D vector selected uniformly from the unit sphere.
+
+  Returns:
+    A normalized 3D vector in a numpy array.
+  """
+  longitude = np.random.uniform(low=-math.pi, high=math.pi)
+  sin_latitude = np.random.uniform(low=-1.0, high=1.0)
+  cos_latitude = math.sqrt(1.0 - sin_latitude * sin_latitude)
+  x = math.cos(longitude) * cos_latitude
+  y = math.sin(longitude) * cos_latitude
+  z = sin_latitude
+  return np.array([x, y, z], dtype=np.float64)
+
+
+def QuaternionNormalize(q):
+  """Normalizes the quaternion to length 1.
+
+  Divides the quaternion by its magnitude.  If the magnitude is too
+  small, returns the quaternion identity value (1.0).
+
+  Args:
+    q: A quaternion to be normalized.
+
+  Raises:
+    ValueError: If input quaternion has length near zero.
+
+  Returns:
+    A quaternion with magnitude 1 in a numpy array [x, y, z, w].
+
+  """
+  q_norm = np.linalg.norm(q)
+  if np.isclose(q_norm, 0.0):
+    raise ValueError(
+        'Quaternion may not be zero in QuaternionNormalize: |q| = %f, q = %s' %
+        (q_norm, q))
+  return q / q_norm
+
+
+def QuaternionFromAxisAngle(axis, angle):
+  """Returns a quaternion that generates the given axis-angle rotation.
+
+  Returns the quaternion: sin(angle/2) * axis + cos(angle/2).
+
+  Args:
+    axis: Axis of rotation, a 3D vector in a numpy array.
+    angle: The angle of rotation (radians).
+
+  Raises:
+    ValueError: If input axis is not a normalizable 3D vector.
+
+  Returns:
+    A unit quaternion in a numpy array.
+
+  """
+  if len(axis) != 3:
+    raise ValueError('Axis vector should have three components: %s' % axis)
+  axis_norm = np.linalg.norm(axis)
+  if np.isclose(axis_norm, 0.0):
+    raise ValueError('Axis vector may not have zero length: |v| = %f, v = %s' %
+                     (axis_norm, axis))
+  half_angle = angle * 0.5
+  q = np.zeros(4, dtype=np.float64)
+  q[0:3] = axis
+  q[0:3] *= math.sin(half_angle) / axis_norm
+  q[3] = math.cos(half_angle)
+  return q
+
+
+def QuaternionToAxisAngle(quat, default_axis=VECTOR3_Z, direction_axis=None):
+  """Calculates axis and angle of rotation performed by a quaternion.
+
+  Calculates the axis and angle of the rotation performed by the quaternion.
+  The quaternion should have four values and be normalized.
+
+  Args:
+    quat: Unit quaternion in a numpy array.
+    default_axis: 3D vector axis used if the rotation is near to zero. Without
+      this default, small rotations would result in an exception.  It is
+      reasonable to use a default axis for tiny rotations, because zero angle
+      rotations about any axis are equivalent.
+    direction_axis: Used to disambiguate rotation directions.  If the
+      direction_axis is specified, the axis of the rotation will be chosen such
+      that its inner product with the direction_axis is non-negative.
+
+  Raises:
+    ValueError: If quat is not a normalized quaternion.
+
+  Returns:
+    axis: Axis of rotation.
+    angle: Angle in radians.
+  """
+  if len(quat) != 4:
+    raise ValueError(
+        'Quaternion should have four components [x, y, z, w]: %s' % quat)
+  if not np.isclose(1.0, np.linalg.norm(quat)):
+    raise ValueError('Quaternion should have unit length: |q| = %f, q = %s' %
+                     (np.linalg.norm(quat), quat))
+  axis = quat[:3].copy()
+  axis_norm = np.linalg.norm(axis)
+  min_axis_norm = 1e-8
+  if axis_norm < min_axis_norm:
+    axis = default_axis
+    if len(default_axis) != 3:
+      raise ValueError('Axis vector should have three components: %s' % axis)
+    if not np.isclose(np.linalg.norm(axis), 1.0):
+      raise ValueError('Axis vector should have unit length: |v| = %f, v = %s' %
+                       (np.linalg.norm(axis), axis))
+  else:
+    axis /= axis_norm
+  sin_half_angle = axis_norm
+  if direction_axis is not None and np.inner(axis, direction_axis) < 0:
+    sin_half_angle = -sin_half_angle
+    axis = -axis
+  cos_half_angle = quat[3]
+  half_angle = math.atan2(sin_half_angle, cos_half_angle)
+  angle = half_angle * 2
+  return axis, angle
+
+
+def QuaternionRandomRotation(max_angle=math.pi):
+  """Creates a random small rotation around a random axis.
+
+  Generates a small rotation with the axis vector selected uniformly
+  from the unit sphere and an angle selected from a uniform
+  distribution over [0, max_angle].
+
+  If the max_angle is not specified, the rotation should be selected
+  uniformly over all possible rotation angles.
+
+  Args:
+    max_angle: The maximum angle of rotation (radians).
+
+  Returns:
+    A unit quaternion in a numpy array.
+
+  """
+
+  angle = np.random.uniform(low=0, high=max_angle)
+  axis = Vector3RandomUnit()
+  return QuaternionFromAxisAngle(axis, angle)
+
+
+def QuaternionRotatePoint(point, quat):
+  """Performs a rotation by quaternion.
+
+  Rotate the point by the quaternion using quaternion multiplication,
+  (q * p * q^-1), without constructing the rotation matrix.
+
+  Args:
+    point: The point to be rotated.
+    quat: The rotation represented as a quaternion [x, y, z, w].
+
+  Returns:
+    A 3D vector in a numpy array.
+  """
+
+  q_point = np.array([point[0], point[1], point[2], 0.0])
+  quat_inverse = transformations.quaternion_inverse(quat)
+  q_point_rotated = transformations.quaternion_multiply(
+      transformations.quaternion_multiply(quat, q_point), quat_inverse)
+  return q_point_rotated[:3]
+
+
+def IsRotationMatrix(m):
+  """Returns true if the 3x3 submatrix represents a rotation.
+
+  Args:
+    m: A transformation matrix.
+
+  Raises:
+    ValueError: If input is not a matrix of size at least 3x3.
+
+  Returns:
+    True if the 3x3 submatrix is a rotation (orthogonal).
+  """
+  if len(m.shape) != 2 or m.shape[0] < 3 or m.shape[1] < 3:
+    raise ValueError('Matrix should be 3x3 or 4x4: %s\n %s' % (m.shape, m))
+  rot = m[:3, :3]
+  eye = np.matmul(rot, np.transpose(rot))
+  return np.isclose(eye, np.identity(3), atol=1e-4).all()
+
+# def ZAxisAlignedRobotPoseTool(robot_pose_tool):
+#   """Returns the current gripper pose rotated for alignment with the z-axis.
+
+#   Args:
+#     robot_pose_tool: a pose3d.Pose3d() instance.
+
+#   Returns:
+#     An instance of pose.Transform representing the current gripper pose
+#     rotated for alignment with the z-axis.
+#   """
+#   # Align the current pose to the z-axis.
+#   robot_pose_tool.quaternion = transformations.quaternion_multiply(
+#       RotationBetween(
+#           robot_pose_tool.matrix4x4[0:3, 0:3].dot(np.array([0, 0, 1])),
+#           np.array([0.0, 0.0, -1.0])), robot_pose_tool.quaternion)
+#   return robot_pose_tool
+
+# def RotationBetween(a_translation_b, a_translation_c):
+#   """Computes the rotation from one vector to another.
+
+#   The computed rotation has the property that:
+
+#     a_translation_c = a_rotation_b_to_c * a_translation_b
+
+#   Args:
+#     a_translation_b: vec3, vector to rotate from
+#     a_translation_c: vec3, vector to rotate to
+
+#   Returns:
+#     a_rotation_b_to_c: new Orientation
+#   """
+#   rotation = rotation3.Rotation3.rotation_between(
+#       a_translation_b, a_translation_c, err_msg='RotationBetween')
+#   return rotation.quaternion.xyzw

humanoid/algo/ppo/amp_discriminator.py

+import torch
+import torch.nn as nn
+from torch import autograd
+
+
+class AMPDiscriminator(nn.Module):
+    def __init__(
+            self, input_dim, amp_reward_coef, hidden_layer_sizes, device, task_reward_lerp=0.0):
+        super(AMPDiscriminator, self).__init__()
+
+        self.device = device
+        self.input_dim = input_dim
+
+        self.amp_reward_coef = amp_reward_coef
+        amp_layers = []
+        curr_in_dim = input_dim
+        for hidden_dim in hidden_layer_sizes:
+            amp_layers.append(nn.Linear(curr_in_dim, hidden_dim))
+            amp_layers.append(nn.LeakyReLU())
+            curr_in_dim = hidden_dim
+        self.trunk = nn.Sequential(*amp_layers).to(device)
+        self.amp_linear = nn.Linear(hidden_layer_sizes[-1], 1).to(device)
+
+        self.trunk.train()
+        self.amp_linear.train()
+
+        self.task_reward_lerp = task_reward_lerp
+
+    def forward(self, x):
+        h = self.trunk(x)
+        d = self.amp_linear(h)
+        return d
+
+    def compute_grad_pen(self,
+                         expert_state,
+                         expert_next_state,
+                         lambda_=10):
+        expert_data = torch.cat([expert_state, expert_next_state], dim=-1)
+        expert_data.requires_grad = True
+
+        disc = self.amp_linear(self.trunk(expert_data))
+        ones = torch.ones(disc.size(), device=disc.device)
+        grad = autograd.grad(
+            outputs=disc, inputs=expert_data,
+            grad_outputs=ones, create_graph=True,
+            retain_graph=True, only_inputs=True)[0]
+
+        # Enforce that the grad norm approaches 0.
+        grad_pen = lambda_ * (grad.norm(2, dim=1) - 0).pow(2).mean()
+        return grad_pen
+
+    def predict_amp_reward(
+            self, state, next_state, task_reward, normalizer=None):
+        with torch.no_grad():
+            self.eval()
+            if normalizer is not None:
+                state = normalizer.normalize_torch(state, self.device)
+                next_state = normalizer.normalize_torch(next_state, self.device)
+
+            d = self.amp_linear(self.trunk(torch.cat([state, next_state], dim=-1)))
+            # reward = self.amp_reward_coef * torch.clamp(1 - (1/4) * torch.square(torch.zeros_like(d)), min=0)
+            reward = self.amp_reward_coef * torch.clamp(1 - (1/4) * torch.square(d - 1), min=0)
+            amp_reward = reward.clone()
+            if self.task_reward_lerp > 0:
+                reward = self._lerp_reward(reward, task_reward.unsqueeze(-1))
+            b=(1.0 - self.task_reward_lerp) * amp_reward.squeeze()
+            c= self.task_reward_lerp * task_reward.squeeze()
+            self.train()
+        return reward.squeeze(), b, c
+
+    def _lerp_reward(self, disc_r, task_r):
+        r = (1.0 - self.task_reward_lerp) * disc_r + self.task_reward_lerp * task_r
+        return r
\ No newline at end of file

humanoid/algo/ppo/dh_on_policy_runner.py

@@ -41,7 +41,9 @@ from .dh_ppo import DHPPO
 from .actor_critic_dh import ActorCriticDH
 from humanoid.algo.vec_env import VecEnv
 from torch.utils.tensorboard import SummaryWriter
-
+from ..loadamp.motion_loader import AMPLoader
+from ..loadamp.amp_utils import Normalizer
+from .amp_discriminator import AMPDiscriminator
 class DHOnPolicyRunner:
 
     def __init__(self, env: VecEnv, train_cfg, log_dir=None, device="cpu"):
@@ -70,8 +72,24 @@ class DHOnPolicyRunner:
             self.env.num_short_obs, self.env.num_single_obs, num_critic_obs, self.env.num_actions, **self.policy_cfg
         ).to(self.device)
 
+        amp_data = AMPLoader(
+            device,
+            motion_files=self.cfg["amp_motion_files"],
+            time_between_frames=self.env.dt,
+            preload_transitions=True,
+            num_preload_transitions=train_cfg['runner']['amp_num_preload_transitions'])     
+        amp_normalizer = Normalizer(amp_data.observation_dim)
+        discriminator = AMPDiscriminator(
+            amp_data.observation_dim * 2,
+            train_cfg['runner']['amp_reward_coef'],
+            train_cfg['runner']['amp_discr_hidden_dims'], device,
+            train_cfg['runner']['amp_task_reward_lerp']).to(self.device)
+        min_std = (
+            torch.tensor(self.cfg["min_normalized_std"], device=self.device) *
+            (torch.abs(self.env.dof_pos_limits[:, 1] - self.env.dof_pos_limits[:, 0])))
+                   
         alg_class = eval(self.cfg["algorithm_class_name"])  # PPO
-        self.alg: DHPPO = alg_class(actor_critic, device=self.device, **self.alg_cfg)
+        self.alg: DHPPO = alg_class(actor_critic,discriminator, amp_data, amp_normalizer, min_std, device=self.device, **self.alg_cfg)
         self.num_steps_per_env = self.cfg["num_steps_per_env"]
         self.save_interval = self.cfg["save_interval"]
 
@@ -106,17 +124,26 @@ class DHOnPolicyRunner:
         privileged_obs = self.env.get_privileged_observations()
         critic_obs = privileged_obs if privileged_obs is not None else obs
         obs, critic_obs = obs.to(self.device), critic_obs.to(self.device)
-        self.alg.actor_critic.train()  # switch to train mode (for dropout for example)
 
+        amp_obs = self.env.get_amp_observations()
+        amp_obs = amp_obs.to(self.device)
+
+        self.alg.actor_critic.train()  # switch to train mode (for dropout for example)
+        self.alg.discriminator.train()
         ep_infos = []
         rewbuffer = deque(maxlen=100)
         lenbuffer = deque(maxlen=100)
+        amp_rewbuffer = deque(maxlen=100)
+        task_rewbuffer = deque(maxlen=100)
+
         cur_reward_sum = torch.zeros(
             self.env.num_envs, dtype=torch.float, device=self.device
         )
         cur_episode_length = torch.zeros(
             self.env.num_envs, dtype=torch.float, device=self.device
         )
+        cur_amp_reward_sum = torch.zeros(self.env.num_envs, dtype=torch.float, device=self.device)
+        cur_task_reward_sum = torch.zeros(self.env.num_envs, dtype=torch.float, device=self.device)
 
         tot_iter = self.current_learning_iteration + num_learning_iterations
 
@@ -128,30 +155,49 @@ class DHOnPolicyRunner:
             # Rollout
             with torch.inference_mode():
                 for i in range(self.num_steps_per_env):
-                    actions = self.alg.act(obs, critic_obs)
-                    obs, privileged_obs, rewards, dones, infos = self.env.step(actions)
+                    actions = self.alg.act(obs, critic_obs, amp_obs)
+                    obs, privileged_obs, rewards, dones, infos, reset_env_ids, terminal_amp_states = self.env.step(actions)
                     critic_obs = privileged_obs if privileged_obs is not None else obs
+                    next_amp_obs = self.env.get_amp_observations()
                     obs, critic_obs, rewards, dones = (
                         obs.to(self.device),
                         critic_obs.to(self.device),
                         rewards.to(self.device),
                         dones.to(self.device),
                     )
-                    self.alg.process_env_step(rewards, dones, infos)
+
+                    next_amp_obs = next_amp_obs.to(self.device)
+                    # Account for terminal states.
+                    next_amp_obs_with_term = torch.clone(next_amp_obs)
+                    next_amp_obs_with_term[reset_env_ids] = terminal_amp_states
+                    rewards,amp_reward,task_reward = self.alg.discriminator.predict_amp_reward(amp_obs, next_amp_obs_with_term, rewards, normalizer=self.alg.amp_normalizer)
+                    amp_obs = torch.clone(next_amp_obs)
+
+                    self.alg.process_env_step(rewards, dones, infos, next_amp_obs_with_term)
 
                     if self.log_dir is not None:
                         # Book keeping
                         if "episode" in infos:
                             ep_infos.append(infos["episode"])
                         cur_reward_sum += rewards
+                        cur_amp_reward_sum += amp_reward
+                        cur_task_reward_sum += task_reward
                         cur_episode_length += 1
                         new_ids = (dones > 0).nonzero(as_tuple=False)
                         rewbuffer.extend(
                             cur_reward_sum[new_ids][:, 0].cpu().numpy().tolist()
                         )
+                        amp_rewbuffer.extend(
+                            cur_amp_reward_sum[new_ids][:, 0].cpu().numpy().tolist()
+                        )
+                        task_rewbuffer.extend(
+                            cur_task_reward_sum[new_ids][:, 0].cpu().numpy().tolist()
+                        )
                         lenbuffer.extend(
                             cur_episode_length[new_ids][:, 0].cpu().numpy().tolist()
                         )
+                        cur_amp_reward_sum[new_ids] = 0
+                        cur_task_reward_sum[new_ids] = 0
                         cur_reward_sum[new_ids] = 0
                         cur_episode_length[new_ids] = 0
 
@@ -162,7 +208,7 @@ class DHOnPolicyRunner:
                 start = stop
                 self.alg.compute_returns(critic_obs)
 
-            mean_value_loss, mean_surrogate_loss, mean_state_estimator_loss = self.alg.update()
+            mean_value_loss, mean_surrogate_loss, mean_state_estimator_loss ,mean_amp_loss, mean_grad_pen_loss, mean_policy_pred, mean_expert_pred= self.alg.update()
             stop = time.time()
             learn_time = stop - start
             if self.log_dir is not None:
@@ -213,6 +259,8 @@ class DHOnPolicyRunner:
         self.writer.add_scalar(
             "Loss/state_estimator", locs["mean_state_estimator_loss"], locs["it"]
         )
+        self.writer.add_scalar('Loss/AMP', locs['mean_amp_loss'], locs['it'])
+        self.writer.add_scalar('Loss/AMP_grad', locs['mean_grad_pen_loss'], locs['it'])
         self.writer.add_scalar("Loss/learning_rate", self.alg.learning_rate, locs["it"])
         self.writer.add_scalar("Policy/mean_noise_std", mean_std.item(), locs["it"])
         self.writer.add_scalar("Perf/total_fps", fps, locs["it"])
@@ -224,6 +272,8 @@ class DHOnPolicyRunner:
             self.writer.add_scalar(
                 "Train/mean_reward", statistics.mean(locs["rewbuffer"]), locs["it"]
             )
+            self.writer.add_scalar('Train/amp_reward', statistics.mean(locs['amp_rewbuffer']), locs['it'])
+            self.writer.add_scalar('Train/task_reward', statistics.mean(locs['task_rewbuffer']), locs['it'])
             self.writer.add_scalar(
                 "Train/mean_episode_length",
                 statistics.mean(locs["lenbuffer"]),
@@ -256,8 +306,15 @@ class DHOnPolicyRunner:
                 f"""{'Value function loss:':>{pad}} {locs['mean_value_loss']:.4f}\n"""
                 f"""{'Surrogate loss:':>{pad}} {locs['mean_surrogate_loss']:.4f}\n"""
                 f"""{'State estimator loss:':>{pad}} {locs['mean_state_estimator_loss']:.4f}\n"""
+                f"""{'AMP loss:':>{pad}} {locs['mean_amp_loss']:.4f}\n"""
+                f"""{'AMP grad pen loss:':>{pad}} {locs['mean_grad_pen_loss']:.4f}\n"""
+                f"""{'AMP mean policy pred:':>{pad}} {locs['mean_policy_pred']:.4f}\n"""
+                f"""{'AMP mean expert pred:':>{pad}} {locs['mean_expert_pred']:.4f}\n"""
                 f"""{'Mean action noise std:':>{pad}} {mean_std.item():.2f}\n"""
                 f"""{'Mean reward:':>{pad}} {statistics.mean(locs['rewbuffer']):.2f}\n"""
+                f"""{'Mean reward:':>{pad}} {statistics.mean(locs['rewbuffer']):.2f}\n"""
+                f"""{'Mean amp reward:':>{pad}} {statistics.mean(locs['amp_rewbuffer']):.2f}\n"""
+                f"""{'Mean task reward:':>{pad}} {statistics.mean(locs['task_rewbuffer']):.2f}\n"""
                 f"""{'Mean episode length:':>{pad}} {statistics.mean(locs['lenbuffer']):.2f}\n"""
             )
             #   f"""{'Mean reward/step:':>{pad}} {locs['mean_reward']:.2f}\n"""
@@ -294,6 +351,8 @@ class DHOnPolicyRunner:
                 "es_optimizer_state_dict": self.alg.state_estimator_optimizer.state_dict(),
                 "iter": self.it,
                 "infos": infos,
+                'discriminator_state_dict': self.alg.discriminator.state_dict(),
+                'amp_normalizer': self.alg.amp_normalizer,
             },
             path,
         )
@@ -305,6 +364,8 @@ class DHOnPolicyRunner:
             self.alg.optimizer.load_state_dict(loaded_dict["optimizer_state_dict"])
             self.alg.state_estimator_optimizer.load_state_dict(loaded_dict["es_optimizer_state_dict"])
         self.current_learning_iteration = loaded_dict["iter"]
+        self.alg.discriminator.load_state_dict(loaded_dict['discriminator_state_dict'])
+        self.alg.amp_normalizer = loaded_dict['amp_normalizer']
         return loaded_dict["infos"]
 
     def get_inference_policy(self, device=None):

humanoid/algo/ppo/dh_ppo.py

@@ -36,11 +36,17 @@ import torch.optim as optim
 
 from .actor_critic_dh import ActorCriticDH
 from .rollout_storage import RolloutStorage
+from .replay_buffer import ReplayBuffer
 
 class DHPPO:
     actor_critic: ActorCriticDH
     def __init__(self,
                  actor_critic,
+                 discriminator,
+                 amp_data,
+                 amp_normalizer,
+                 min_std=None,
+                 amp_replay_buffer_size=100000,
                  num_learning_epochs=1,
                  num_mini_batches=1,
                  clip_param=0.2,
@@ -62,13 +68,28 @@ class DHPPO:
         self.desired_kl = desired_kl
         self.schedule = schedule
         self.learning_rate = learning_rate
+        self.min_std = min_std
+
+        # Discriminator components
+        self.discriminator = discriminator
+        self.discriminator.to(self.device)
+        self.amp_transition = RolloutStorage.Transition()
+        self.amp_storage = ReplayBuffer(
+            discriminator.input_dim // 2, amp_replay_buffer_size, device)
+        self.amp_data = amp_data
+        self.amp_normalizer = amp_normalizer
 
         # PPO components
         self.actor_critic: ActorCriticDH = actor_critic
         self.actor_critic.to(self.device)
         self.storage = None # initialized later
-        self.optimizer = optim.Adam(self.actor_critic.parameters(),
-                                    lr=learning_rate)
+        params = [
+            {'params': self.actor_critic.parameters(), 'name': 'actor_critic'},
+            {'params': self.discriminator.trunk.parameters(),
+             'weight_decay': 10e-4, 'name': 'amp_trunk'},
+            {'params': self.discriminator.amp_linear.parameters(),
+             'weight_decay': 10e-2, 'name': 'amp_head'}]
+        self.optimizer = optim.Adam(params, lr=learning_rate)
         self.state_estimator_optimizer = optim.Adam(self.actor_critic.state_estimator.parameters(),
                                         lr=learning_rate)
         self.transition = RolloutStorage.Transition()
@@ -95,7 +116,7 @@ class DHPPO:
     def train_mode(self):
         self.actor_critic.train()
 
-    def act(self, obs, critic_obs):
+    def act(self, obs, critic_obs, amp_obs):
         # Compute the actions and values
         self.transition.actions = self.actor_critic.act(obs).detach()
         self.transition.values = self.actor_critic.evaluate(critic_obs).detach()
@@ -105,9 +126,11 @@ class DHPPO:
         # need to record obs and critic_obs before env.step()
         self.transition.observations = obs
         self.transition.critic_observations = critic_obs
+        self.amp_transition.observations = amp_obs
+
         return self.transition.actions
     
-    def process_env_step(self, rewards, dones, infos):
+    def process_env_step(self, rewards, dones, infos, amp_obs):
         self.transition.rewards = rewards.clone()
         self.transition.dones = dones
         # Bootstrapping on time outs
@@ -115,8 +138,10 @@ class DHPPO:
             self.transition.rewards += self.gamma * torch.squeeze(self.transition.values * infos['time_outs'].unsqueeze(1).to(self.device), 1)
 
         # Record the transition
+        self.amp_storage.insert(self.amp_transition.observations, amp_obs)
         self.storage.add_transitions(self.transition)
         self.transition.clear()
+        self.amp_transition.clear()
         self.actor_critic.reset(dones)
     
     def compute_returns(self, last_critic_obs):
@@ -128,9 +153,22 @@ class DHPPO:
         mean_surrogate_loss = 0
         mean_state_estimator_loss = 0
 
+        mean_amp_loss = 0
+        mean_grad_pen_loss = 0
+        mean_policy_pred = 0
+        mean_expert_pred = 0
+
         generator = self.storage.mini_batch_generator(self.num_mini_batches, self.num_learning_epochs)
-        for obs_batch, critic_obs_batch, actions_batch, target_values_batch, advantages_batch, returns_batch, old_actions_log_prob_batch, \
-            old_mu_batch, old_sigma_batch, hid_states_batch, masks_batch in generator:
+        amp_policy_generator = self.amp_storage.feed_forward_generator(
+            self.num_learning_epochs * self.num_mini_batches,
+            self.storage.num_envs * self.storage.num_transitions_per_env //
+                self.num_mini_batches)
+        amp_expert_generator = self.amp_data.feed_forward_generator(
+            self.num_learning_epochs * self.num_mini_batches,
+            self.storage.num_envs * self.storage.num_transitions_per_env //
+                self.num_mini_batches)
+        for (obs_batch, critic_obs_batch, actions_batch, target_values_batch, advantages_batch, returns_batch, old_actions_log_prob_batch, \
+            old_mu_batch, old_sigma_batch, hid_states_batch, masks_batch), sample_amp_policy, sample_amp_expert in zip(generator, amp_policy_generator, amp_expert_generator):
 
                 self.actor_critic.act(obs_batch, masks=masks_batch, hidden_states=hid_states_batch[0])
                 state_estimator_input = obs_batch[:,-self.num_short_obs:]
@@ -174,10 +212,34 @@ class DHPPO:
                 else:
                     value_loss = (returns_batch - value_batch).pow(2).mean()
                 
+                # Discriminator loss.
+                policy_state, policy_next_state = sample_amp_policy
+                expert_state, expert_next_state = sample_amp_expert
+
+                policy_state_unnorm = torch.clone(policy_state)
+                expert_state_unnorm = torch.clone(expert_state)
+
+                if self.amp_normalizer is not None:
+                    with torch.no_grad():
+                        policy_state = self.amp_normalizer.normalize_torch(policy_state, self.device)
+                        policy_next_state = self.amp_normalizer.normalize_torch(policy_next_state, self.device)
+                        expert_state = self.amp_normalizer.normalize_torch(expert_state, self.device)
+                        expert_next_state = self.amp_normalizer.normalize_torch(expert_next_state, self.device)
+                policy_d = self.discriminator(torch.cat([policy_state, policy_next_state], dim=-1))
+                expert_d = self.discriminator(torch.cat([expert_state, expert_next_state], dim=-1))
+                expert_loss = torch.nn.MSELoss()(
+                    expert_d, torch.ones(expert_d.size(), device=self.device))
+                policy_loss = torch.nn.MSELoss()(
+                    policy_d, -1 * torch.ones(policy_d.size(), device=self.device))
+                amp_loss = 0.5 * (expert_loss + policy_loss)
+                grad_pen_loss = self.discriminator.compute_grad_pen(
+                    expert_state, expert_next_state, lambda_=10)
+
+
                 # update all actor_critic.parameters()
                 loss = (surrogate_loss + 
                         self.value_loss_coef * value_loss - 
-                        self.entropy_coef * entropy_batch.mean() +
+                        self.entropy_coef * entropy_batch.mean() + amp_loss + grad_pen_loss +
                         torch.nn.MSELoss()(est_lin_vel, ref_lin_vel))
                 
                 # Gradient step
@@ -186,16 +248,31 @@ class DHPPO:
                 nn.utils.clip_grad_norm_(self.actor_critic.parameters(), self.max_grad_norm)
                 self.optimizer.step()
 
+                self.actor_critic.std.data = self.actor_critic.std.data.clamp(min=self.min_std) #yzh comment: may be not necessary
+
+                if self.amp_normalizer is not None:
+                    self.amp_normalizer.update(policy_state_unnorm.cpu().numpy())
+                    self.amp_normalizer.update(expert_state_unnorm.cpu().numpy())
+
                 state_estimator_loss = torch.nn.MSELoss()(est_lin_vel, ref_lin_vel)
 
                 mean_value_loss += value_loss.item()
                 mean_surrogate_loss += surrogate_loss.item()
                 mean_state_estimator_loss += state_estimator_loss.item()
+                mean_amp_loss += amp_loss.item()
+                mean_grad_pen_loss += grad_pen_loss.item()
+                mean_policy_pred += policy_d.mean().item()
+                mean_expert_pred += expert_d.mean().item()
+
 
         num_updates = self.num_learning_epochs * self.num_mini_batches
         mean_value_loss /= num_updates
         mean_surrogate_loss /= num_updates
         mean_state_estimator_loss /= num_updates
+        mean_amp_loss /= num_updates
+        mean_grad_pen_loss /= num_updates
+        mean_policy_pred /= num_updates
+        mean_expert_pred /= num_updates
         self.storage.clear()
 
-        return mean_value_loss, mean_surrogate_loss, mean_state_estimator_loss
+        return mean_value_loss, mean_surrogate_loss, mean_state_estimator_loss, mean_amp_loss, mean_grad_pen_loss, mean_policy_pred, mean_expert_pred

humanoid/algo/ppo/replay_buffer.py

+import torch
+import numpy as np
+
+
+class ReplayBuffer:
+    """Fixed-size buffer to store experience tuples."""
+
+    def __init__(self, obs_dim, buffer_size, device):
+        """Initialize a ReplayBuffer object.
+        Arguments:
+            buffer_size (int): maximum size of buffer
+        """
+        self.states = torch.zeros(buffer_size, obs_dim).to(device)
+        self.next_states = torch.zeros(buffer_size, obs_dim).to(device)
+        self.buffer_size = buffer_size
+        self.device = device
+
+        self.step = 0
+        self.num_samples = 0
+    
+    def insert(self, states, next_states):
+        """Add new states to memory."""
+        
+        num_states = states.shape[0]
+        start_idx = self.step
+        end_idx = self.step + num_states
+        if end_idx > self.buffer_size:
+            self.states[self.step:self.buffer_size] = states[:self.buffer_size - self.step]
+            self.next_states[self.step:self.buffer_size] = next_states[:self.buffer_size - self.step]
+            self.states[:end_idx - self.buffer_size] = states[self.buffer_size - self.step:]
+            self.next_states[:end_idx - self.buffer_size] = next_states[self.buffer_size - self.step:]
+        else:
+            self.states[start_idx:end_idx] = states
+            self.next_states[start_idx:end_idx] = next_states
+
+        self.num_samples = min(self.buffer_size, max(end_idx, self.num_samples))
+        self.step = (self.step + num_states) % self.buffer_size
+
+    def feed_forward_generator(self, num_mini_batch, mini_batch_size):
+        for _ in range(num_mini_batch):
+            sample_idxs = np.random.choice(self.num_samples, size=mini_batch_size)
+            yield (self.states[sample_idxs].to(self.device),
+                   self.next_states[sample_idxs].to(self.device))

humanoid/envs/base/legged_robot.py

@@ -46,7 +46,9 @@ from humanoid.utils.math import quat_apply_yaw, wrap_to_pi, torch_rand_sqrt_floa
 from humanoid.utils.helpers import class_to_dict
 from .legged_robot_config import LeggedRobotCfg
 from humanoid.utils.terrain import Terrain
-
+from humanoid.algo.loadamp.motion_loader import AMPLoader
+import humanoid.utils.kinematics.urdf as pk
+import glob
 def copysign_new(a, b):
 
     a = torch.tensor(a, device=b.device, dtype=torch.float)
@@ -102,11 +104,22 @@ class LeggedRobot(BaseTask):
         self.init_done = False
         self._parse_cfg(self.cfg)
         super().__init__(self.cfg, sim_params, physics_engine, sim_device, headless)
+        self.chain_ee = []
+        TEMP_UDRF = '/home/bxi/Documents/agibot_x1_train_bak/datasets/bot_elf_tempurdf/urdf/bot_elf.urdf'
+        for ee_name in self.cfg.env.ee_names:
+            with open(TEMP_UDRF, "rb") as urdf_file:
+            # with open(self.cfg.asset.file, "rb") as urdf_file:
+                urdf_content = urdf_file.read()
+                chain_ee_instance = pk.build_serial_chain_from_urdf(urdf_content, ee_name).to(device=self.device)
+                self.chain_ee.append(chain_ee_instance)
         if not self.headless:
             self.set_camera(self.cfg.viewer.pos, self.cfg.viewer.lookat)
         self._init_buffers()
         self._prepare_reward_function()
         self.init_done = True
+        # print("motion_files dir: ")
+        # print(self.cfg.env.amp_motion_files)
+        self.amp_loader = AMPLoader(motion_files=self.cfg.env.amp_motion_files, device=self.device, time_between_frames=self.dt)
 
     def step(self, actions):
         """ Apply actions, simulate, call self.post_physics_step()
@@ -145,19 +158,19 @@ class LeggedRobot(BaseTask):
                 self.imu_lag_buffer[:,:,1:] = self.imu_lag_buffer[:,:,:self.cfg.domain_rand.imu_lag_timesteps_range[1]].clone()
                 self.imu_lag_buffer[:,:,0] = torch.cat((self.base_ang_vel, self.base_euler_xyz ), 1).clone()
         
-        self.post_physics_step()
+        reset_env_ids, terminal_amp_states = self.post_physics_step()
 
         # return clipped obs, clipped states (None), rewards, dones and infos
         clip_obs = self.cfg.normalization.clip_observations
         self.obs_buf = torch.clip(self.obs_buf, -clip_obs, clip_obs)
         if self.privileged_obs_buf is not None:
             self.privileged_obs_buf = torch.clip(self.privileged_obs_buf, -clip_obs, clip_obs)
-        return self.obs_buf, self.privileged_obs_buf, self.rew_buf, self.reset_buf, self.extras
+        return self.obs_buf, self.privileged_obs_buf, self.rew_buf, self.reset_buf, self.extras, reset_env_ids, terminal_amp_states
 
     def reset(self):
         """ Reset all robots"""
         self.reset_idx(torch.arange(self.num_envs, device=self.device))
-        obs, privileged_obs, _, _, _ = self.step(torch.zeros(
+        obs, privileged_obs, _, _, _,_ ,_= self.step(torch.zeros(
             self.num_envs, self.num_actions, device=self.device, requires_grad=False))
         return obs, privileged_obs
     
@@ -188,6 +201,7 @@ class LeggedRobot(BaseTask):
         self.check_termination()
         self.compute_reward()
         env_ids = self.reset_buf.nonzero(as_tuple=False).flatten()
+        terminal_amp_states = self.get_amp_observations()[env_ids]
         self.reset_idx(env_ids)
         self.compute_observations() # in some cases a simulation step might be required to refresh some obs (for example body positions)
 
@@ -203,6 +217,8 @@ class LeggedRobot(BaseTask):
         if self.viewer and self.enable_viewer_sync and self.debug_viz:
             self._draw_debug_vis()
         
+        return env_ids, terminal_amp_states
+
     def check_termination(self):
         """ Check if environments need to be reset
         """
@@ -238,11 +254,14 @@ class LeggedRobot(BaseTask):
             self.update_command_curriculum(env_ids)
         
         # reset rand dof_pos and dof_vel=0
-        self._reset_dofs(env_ids)
-
         # reset base position
+        if self.cfg.env.reference_state_initialization:
+            frames = self.amp_loader.get_full_frame_batch(len(env_ids))
+            self._reset_dofs_amp(env_ids, frames)
+            self._reset_root_states_amp(env_ids, frames)
+        else:
+            self._reset_dofs(env_ids)
             self._reset_root_states(env_ids)
-
         # sample cmd based on self.command_ranges
         self._resample_commands(env_ids)
     
@@ -757,6 +776,25 @@ class LeggedRobot(BaseTask):
         self.gym.set_dof_state_tensor_indexed(self.sim,
                                               gymtorch.unwrap_tensor(self.dof_state),
                                               gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
+    def _reset_dofs_amp(self, env_ids, frames):
+        """ Resets DOF position and velocities of selected environmments
+        Positions are randomly selected within 0.5:1.5 x default positions.
+        Velocities are set to zero.
+
+        Args:
+            env_ids (List[int]): Environemnt ids
+            frames: AMP frames to initialize motion with
+        """
+        self.dof_pos[env_ids] = AMPLoader.get_joint_pose_batch(frames)
+        self.dof_vel[env_ids] = AMPLoader.get_joint_vel_batch(frames)
+        self.dof_pos[env_ids] = self.amp_loader.reorder_from_mujuco_to_isaacgym_tool(self.dof_pos[env_ids])
+        self.dof_vel[env_ids] = self.amp_loader.reorder_from_mujuco_to_isaacgym_tool(self.dof_vel[env_ids])
+        self.dof_pos[env_ids] = self.dof_pos[env_ids].clip(self.dof_pos_limits[:,0],self.dof_pos_limits[:,1])
+        self.dof_vel[env_ids] = self.dof_vel[env_ids].clip(torch.zeros_like(self.dof_vel[env_ids]),self.dof_vel_limits)
+        env_ids_int32 = env_ids.to(dtype=torch.int32)
+        self.gym.set_dof_state_tensor_indexed(self.sim,
+                                              gymtorch.unwrap_tensor(self.dof_state),
+                                              gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
         
     def _reset_root_states(self, env_ids):
         """ Resets ROOT states position and velocities of selected environmments
@@ -787,7 +825,27 @@ class LeggedRobot(BaseTask):
         self.gym.set_actor_root_state_tensor_indexed(self.sim,
                                                      gymtorch.unwrap_tensor(self.root_states),
                                                      gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
+    def _reset_root_states_amp(self, env_ids, frames):
+        """ Resets ROOT states position and velocities of selected environmments
+            Sets base position based on the curriculum
+            Selects randomized base velocities within -0.5:0.5 [m/s, rad/s]
+        Args:
+            env_ids (List[int]): Environemnt ids
+        """
+        # base position
+        root_pos = AMPLoader.get_root_pos_batch(frames)
+        root_pos[:, :2] = root_pos[:, :2] + self.env_origins[env_ids, :2]
+        self.root_states[env_ids, :3] = root_pos
+        # base velocities
+        root_orn = AMPLoader.get_root_rot_batch(frames)
+        self.root_states[env_ids, 3:7] = root_orn
+        self.root_states[env_ids, 7:10] = quat_rotate(root_orn, AMPLoader.get_linear_vel_batch(frames))
+        self.root_states[env_ids, 10:13] = quat_rotate(root_orn, AMPLoader.get_angular_vel_batch(frames))
 
+        env_ids_int32 = env_ids.to(dtype=torch.int32)
+        self.gym.set_actor_root_state_tensor_indexed(self.sim,
+                                                     gymtorch.unwrap_tensor(self.root_states),
+                                                     gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
     def _push_robots(self):
         """ Random pushes the robots. Emulates an impulse by setting a randomized base velocity. 
         """

humanoid/envs/base/legged_robot_config.py

@@ -351,6 +351,9 @@ class LeggedRobotCfg(BaseConfig):
 class LeggedRobotCfgPPO(BaseConfig):
     seed = 1
     runner_class_name = 'OnPolicyRunner'
+    # import glob
+    # MOTION_FILES = glob.glob('../../../datasets/bot_elf/*')
+    # amp_motion_files = MOTION_FILES
     class policy:
         init_noise_std = 1.0
         actor_hidden_dims = [512, 256, 128]

humanoid/envs/elf12/elf12_dh_stand_config.py

@@ -31,11 +31,15 @@
 # Copyright (c) 2024, AgiBot Inc. All rights reserved.
 
 from humanoid.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
-
+import os
+import glob
+current_path = os.getcwd()
+MOTION_FILES = glob.glob('/home/bxi/Documents/agibot_x1_train_bak/datasets/bot_elf/*')
 class Elf12DHStandCfg(LeggedRobotCfg):
     """
     Configuration class for the XBotL humanoid robot.
     """
+    
     class env(LeggedRobotCfg.env):
         # change the observation dim
         frame_stack = 66      #all histroy obs num
@@ -51,7 +55,10 @@ class Elf12DHStandCfg(LeggedRobotCfg):
         episode_length_s = 24 #episode length in seconds
         use_ref_actions = False
         num_commands = 5 # sin_pos cos_pos vx vy vz
-
+        amp_motion_files = MOTION_FILES
+        ee_names = ["l_ankle_x_link", "r_ankle_x_link", "l_hand_contact", "r_hand_contact"]
+        reference_state_initialization = False
+        reference_state_initialization_prob = 0.85
     class safety:
         # safety factors
         pos_limit = 1.0
@@ -67,16 +74,16 @@ class Elf12DHStandCfg(LeggedRobotCfg):
         foot_name = "ankle_x_link"
         knee_name = "knee_y_link"
 
-        terminate_after_contacts_on = ['base_link', 'hip']
-        penalize_contacts_on = ["base_link", "hip"]
-        self_collisions = 1  # 1 to disable, 0 to enable...bitwise filter
+        terminate_after_contacts_on = ['base_link']
+        penalize_contacts_on = ["base_link", "knee"]
+        self_collisions = 0  # 1 to disable, 0 to enable...bitwise filter
         flip_visual_attachments = False
         replace_cylinder_with_capsule = False
         fix_base_link = False
 
     class terrain(LeggedRobotCfg.terrain):
-        # mesh_type = 'plane'
-        mesh_type = 'trimesh'
+        mesh_type = 'plane'
+        # mesh_type = 'trimesh'
         curriculum = False
         # rough terrain only:
         measure_heights = False
@@ -128,16 +135,16 @@ class Elf12DHStandCfg(LeggedRobotCfg):
         default_joint_angles = {  # = target angles [rad] when action = 0.0
             'l_hip_z_joint': 0.0,
             'l_hip_x_joint': 0.0,
-            'l_hip_y_joint': -0.3,
-            'l_knee_y_joint': 0.6,
-            'l_ankle_y_joint': -0.3,
+            'l_hip_y_joint': -0.5,
+            'l_knee_y_joint': 1.0,
+            'l_ankle_y_joint': -0.5,
             'l_ankle_x_joint': 0.0,
             
             'r_hip_z_joint': 0.0,
             'r_hip_x_joint': 0.0,
-            'r_hip_y_joint': -0.3,
-            'r_knee_y_joint': 0.6,
-            'r_ankle_y_joint': -0.3,
+            'r_hip_y_joint': -0.5,
+            'r_knee_y_joint': 1.0,
+            'r_ankle_y_joint': -0.5,
             'r_ankle_x_joint': 0.0,
         }
 
@@ -145,7 +152,7 @@ class Elf12DHStandCfg(LeggedRobotCfg):
         # PD Drive parameters:
         control_type = 'P'
 
-        stiffness = {'hip_z': 150, 'hip_x': 150, 'hip_y': 150, 'knee_y': 150, 'ankle_y': 20, 'ankle_x': 20}
+        stiffness = {'hip_z': 100, 'hip_x': 100, 'hip_y': 100, 'knee_y': 100, 'ankle_y': 20, 'ankle_x': 20}
         damping = {'hip_z': 3, 'hip_x': 3, 'hip_y': 3, 'knee_y': 3, 'ankle_y': 1, 'ankle_x': 1}
 
         # action scale: target angle = actionScale * action + defaultAngle
@@ -182,7 +189,7 @@ class Elf12DHStandCfg(LeggedRobotCfg):
         push_interval_s = 4 # every this second, push robot
         update_step = 2000 * 24 # after this count, increase push_duration index
         push_duration = [0, 0.05, 0.1, 0.15, 0.2, 0.25] # increase push duration during training
-        max_push_vel_xy = 0.5
+        max_push_vel_xy = 0.6
         max_push_ang_vel = 0.3
 
         randomize_base_mass = True
@@ -208,7 +215,7 @@ class Elf12DHStandCfg(LeggedRobotCfg):
         
         randomize_joint_friction = True
         randomize_joint_friction_each_joint = False
-        joint_friction_range = [0.01, 1.15]
+        joint_friction_range = [0.01, 0.75]
         joint_1_friction_range = [0.01, 1.15]
         joint_2_friction_range = [0.01, 1.15]
         joint_3_friction_range = [0.01, 1.15]
@@ -222,7 +229,7 @@ class Elf12DHStandCfg(LeggedRobotCfg):
 
         randomize_joint_damping = True
         randomize_joint_damping_each_joint = False
-        joint_damping_range = [0.3, 1.5]
+        joint_damping_range = [0.01, 0.75]
         joint_1_damping_range = [0.3, 1.5]
         joint_2_damping_range = [0.3, 1.5]
         joint_3_damping_range = [0.3, 1.5]
@@ -281,7 +288,8 @@ class Elf12DHStandCfg(LeggedRobotCfg):
         # Vers: lin_vel_x, lin_vel_y, ang_vel_yaw, heading (in heading mode ang_vel_yaw is recomputed from heading error)
         num_commands = 4
         resampling_time = 25.  # time before command are changed[s]
-        gait = ["walk_omnidirectional","stand","walk_omnidirectional"] # gait type during training
+        # gait = ["walk_omnidirectional","stand","walk_omnidirectional"] # gait type during training
+        gait = ["walk_omnidirectional"] # gait type during training
         # proportion during whole life time
         gait_time_range = {"walk_sagittal": [2,6],
                            "walk_lateral": [2,6],
@@ -290,13 +298,14 @@ class Elf12DHStandCfg(LeggedRobotCfg):
                            "walk_omnidirectional": [4,6]}
 
         heading_command = False  # if true: compute ang vel command from heading error
-        stand_com_threshold = 0.05 # if (lin_vel_x, lin_vel_y, ang_vel_yaw).norm < this, robot should stand
+        # stand_com_threshold = 0.05 # if (lin_vel_x, lin_vel_y, ang_vel_yaw).norm < this, robot should stand
+        stand_com_threshold = -1.0 # if (lin_vel_x, lin_vel_y, ang_vel_yaw).norm < this, robot should stand
         sw_switch = True # use stand_com_threshold or not
 
         class ranges:
-            lin_vel_x = [-0.4, 0.8] # min max [m/s] 
-            lin_vel_y = [-0.4, 0.4]   # min max [m/s]
-            ang_vel_yaw = [-0.6, 0.6]    # min max [rad/s]
+            lin_vel_x = [-1.5, 1.5] # min max [m/s] 
+            lin_vel_y = [-0.2, 0.2]   # min max [m/s]
+            ang_vel_yaw = [-0.4, 0.4]    # min max [rad/s]
             heading = [-3.14, 3.14]
 
     class rewards:
@@ -305,16 +314,18 @@ class Elf12DHStandCfg(LeggedRobotCfg):
         soft_torque_limit = 0.9
         base_height_target = 0.68
         foot_min_dist = 0.15
-        foot_max_dist = 1.0
+        foot_max_dist = 1.2
 
         # final_swing_joint_pos = final_swing_joint_delta_pos + default_pos
-        final_swing_joint_delta_pos = [0.0, 0.0, -0.16, 0.32, -0.16, 0.0, 
-                                       0.0, 0.0, -0.16, 0.32, -0.16, 0.0]
-        target_feet_height = 0.03 
-        target_feet_height_max = 0.08
+        final_swing_joint_delta_pos = [0.0, 0.0, -0.3, 0.6, -0.3, 0.0, 
+                                       0.0, 0.0, -0.3, 0.6, -0.3, 0.0]
+        target_feet_height = 0.05 
+        target_feet_height_max = 0.20
         feet_to_ankle_distance = 0.04
-        cycle_time = 0.7
-        double_suport = 0.4
+        cycle_time = 0.56
+        # double_suport = 0.01
+        right_diffp = 0.5
+        stand_phase = 0.5
         # if true negative total rewards are clipped at zero (avoids early termination problems)
         only_positive_rewards = True
         # tracking reward = exp(-error*sigma)
@@ -330,22 +341,23 @@ class Elf12DHStandCfg(LeggedRobotCfg):
             foot_slip = -0.1
             feet_distance = 0.2
             knee_distance = 0.2
+            # fly_time = 1.2
             # contact 
             feet_contact_forces = -0.01
             # vel tracking
             tracking_lin_vel = 1.8
             tracking_ang_vel = 1.1
-            vel_mismatch_exp = 0.5  # lin_z; ang x,y
+            vel_mismatch_exp = 0.75  # lin_z; ang x,y
             low_speed = 0.2
             track_vel_hard = 0.5
             # base pos
             default_joint_pos = 1.0
-            orientation = 1.
+            orientation = 1.2
             feet_rotation = 0.3
             # base_height = 0.2
-            base_acc = 0.2
+            base_acc = 0.25
             # energy
-            action_smoothness = -0.002
+            action_smoothness = -0.003
             torques = -8e-9
             dof_vel = -2e-8
             dof_acc = -1e-7
@@ -355,6 +367,7 @@ class Elf12DHStandCfg(LeggedRobotCfg):
             dof_vel_limits = -1
             dof_pos_limits = -10.
             dof_torque_limits = -0.1
+            ankle_torques = -0.004
 
     class normalization:
         class obs_scales:
@@ -387,8 +400,8 @@ class Elf12DHStandCfgPPO(LeggedRobotCfgPPO):
 
     class algorithm(LeggedRobotCfgPPO.algorithm):
         entropy_coef = 0.001
-        learning_rate = 1e-5
-        num_learning_epochs = 2
+        learning_rate = 1e-4
+        num_learning_epochs = 4
         gamma = 0.994
         lam = 0.9
         num_mini_batches = 4
@@ -412,3 +425,11 @@ class Elf12DHStandCfgPPO(LeggedRobotCfgPPO):
         load_run = -1  # -1 = last run
         checkpoint = -1  # -1 = last saved model
         resume_path = None  # updated from load_run and chkpt
+        amp_reward_coef = 1.0
+        amp_motion_files = MOTION_FILES
+        amp_num_preload_transitions = 2000000
+        amp_task_reward_lerp = 0.9
+        amp_discr_hidden_dims = [1024, 512]
+        amp_replay_buffer_size = 1000000
+
+        min_normalized_std = [0.01, 0.01, 0.01, 0.01] * 3
\ No newline at end of file

humanoid/envs/elf12/elf12_dh_stand_env.py

@@ -41,7 +41,8 @@ import torch
 from humanoid.envs import LeggedRobot
 
 from humanoid.utils.terrain import  Terrain
-
+from humanoid.algo.loadamp.motion_loader import AMPLoader
+import glob
 def copysign_new(a, b):
 
     a = torch.tensor(a, device=b.device, dtype=torch.float)
@@ -115,6 +116,9 @@ class Elf12DHStandEnv(LeggedRobot):
         self.last_feet_z = self.cfg.rewards.feet_to_ankle_distance
         self.feet_height = torch.zeros((self.num_envs, 2), device=self.device)
         self.ref_dof_pos = torch.zeros((self.num_envs, self.num_actions), device=self.device)    
+        # self.cfg.env.amp_motion_files = glob.glob('../../../datasets/bot_elf/*')
+        # print("motion_files dir: ")
+        # print(self.cfg.env.amp_motion_files)
 
 
     def _push_robots(self):
@@ -146,20 +150,60 @@ class Elf12DHStandEnv(LeggedRobot):
         # phase continue increase，if want robot stand, set 0
         return phase
 
-    def _get_stance_mask(self):
-        # return float mask 1 is stance, 0 is swing
+    def  _get_sin(self, phase):
+        
+        f = torch.zeros_like(phase)
+        phase_1 = self.cfg.rewards.stand_phase 
+        
+        width_1 = phase_1
+        width_2 = 1 - phase_1
+        
+        width_sin_1 = (2.*torch.pi)/2.
+        
+        f[phase < phase_1] = torch.sin(width_sin_1 * (phase[phase < phase_1] / width_1))
+        f[phase >= phase_1] = -torch.sin(width_sin_1 * ((phase[phase >= phase_1] - phase_1) / width_2))
+        
+        return f
+
+    def  _get_phase_sin(self):
+        
         phase = self._get_phase()
-        sin_pos = torch.sin(2 * torch.pi * phase)
         
+        phase_l = phase.clone()
+        phase_r = phase.clone() + self.cfg.rewards.right_diffp
+        
+        phase_l %= 1.0
+        phase_r %= 1.0
+        
+        sin_l = self._get_sin(phase_l)
+        sin_r = self._get_sin(phase_r)
+        
+        return sin_l,sin_r
+
+    def _get_stance_mask(self):
+        # # return float mask 1 is stance, 0 is swing
+        # phase = self._get_phase()
+        # sin_pos = torch.sin(2 * torch.pi * phase)
+        
+        # stance_mask = torch.zeros((self.num_envs, 2), device=self.device)
+        # # left foot stance
+        # stance_mask[:, 0] = sin_pos >= 0
+        # # right foot stance
+        # stance_mask[:, 1] = sin_pos < 0
+        # # Add double support phase
+        # stance_mask[torch.abs(sin_pos) < self.cfg.rewards.double_suport] = 1
+
+        # # stand mask == 1 means stand leg 
+        # return stance_mask
         stance_mask = torch.zeros((self.num_envs, 2), device=self.device)
+        l, r = self._get_phase_sin()
+        # stance_mask[l>=0,0] = 1.
+        # stance_mask[r>=0,1] = 1.
         # left foot stance
-        stance_mask[:, 0] = sin_pos >= 0
+        stance_mask[:, 0] = (l >= 0) #| (torch.abs(l) < self.cfg.rewards.double_suport)
         # right foot stance
-        stance_mask[:, 1] = sin_pos < 0
-        # Add double support phase
-        stance_mask[torch.abs(sin_pos) < self.cfg.rewards.double_suport] = 1
+        stance_mask[:, 1] = (r >= 0) #| (torch.abs(r) < self.cfg.rewards.double_suport)
 
-        # stand mask == 1 means stand leg 
         return stance_mask
 
     def generate_gait_time(self,envs):
@@ -272,11 +316,12 @@ class Elf12DHStandEnv(LeggedRobot):
                 self.rand_push_torque.zero_()
 
     def compute_ref_state(self):
-        phase = self._get_phase()
-        sin_pos = torch.sin(2 * torch.pi * phase)
-        sin_pos_l = sin_pos.clone()
-        sin_pos_r = sin_pos.clone()
+        # phase = self._get_phase()
+        # sin_pos = torch.sin(2 * torch.pi * phase)
+        # sin_pos_l = sin_pos.clone()
+        # sin_pos_r = sin_pos.clone()
 
+        sin_pos_l, sin_pos_r = self._get_phase_sin()
         self.ref_dof_pos = torch.zeros_like(self.dof_pos)
         # left swing
         sin_pos_l[sin_pos_l > 0] = 0
@@ -287,15 +332,23 @@ class Elf12DHStandEnv(LeggedRobot):
         self.ref_dof_pos[:, 4] = -sin_pos_l * self.cfg.rewards.final_swing_joint_delta_pos[4]
         self.ref_dof_pos[:, 5] = -sin_pos_l * self.cfg.rewards.final_swing_joint_delta_pos[5]
         # right
-        sin_pos_r[sin_pos_r < 0] = 0
-        self.ref_dof_pos[:, 6] = sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[6]
-        self.ref_dof_pos[:, 7] = sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[7]
-        self.ref_dof_pos[:, 8] = sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[8]
-        self.ref_dof_pos[:, 9] = sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[9]
-        self.ref_dof_pos[:, 10] = sin_pos_r * self.cfg.rewards.final_swing_joint_delta_pos[10]
-        self.ref_dof_pos[:, 11] = sin_pos_r * self.cfg.rewards.final_swing_joint_delta_pos[11]
-
-        self.ref_dof_pos[torch.abs(sin_pos) < self.cfg.rewards.double_suport] = 0.
+        # sin_pos_r[sin_pos_r < 0] = 0
+        # self.ref_dof_pos[:, 6] = sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[6]
+        # self.ref_dof_pos[:, 7] = sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[7]
+        # self.ref_dof_pos[:, 8] = sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[8]
+        # self.ref_dof_pos[:, 9] = sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[9]
+        # self.ref_dof_pos[:, 10] = sin_pos_r * self.cfg.rewards.final_swing_joint_delta_pos[10]
+        # self.ref_dof_pos[:, 11] = sin_pos_r * self.cfg.rewards.final_swing_joint_delta_pos[11]
+
+        # self.ref_dof_pos[torch.abs(sin_pos) < self.cfg.rewards.double_suport] = 0.
+        sin_pos_r[sin_pos_r > 0] = 0
+        # sin_pos_r[torch.abs(sin_pos_r) < self.cfg.rewards.double_suport] = 0
+        self.ref_dof_pos[:, 6] = -sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[6]
+        self.ref_dof_pos[:, 7] = -sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[7]
+        self.ref_dof_pos[:, 8] = -sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[8]
+        self.ref_dof_pos[:, 9] = -sin_pos_r *  self.cfg.rewards.final_swing_joint_delta_pos[9]
+        self.ref_dof_pos[:, 10] = -sin_pos_r * self.cfg.rewards.final_swing_joint_delta_pos[10]
+        self.ref_dof_pos[:, 11] = -sin_pos_r * self.cfg.rewards.final_swing_joint_delta_pos[11]
 
         # if use_ref_actions=True, action += ref_action
         self.ref_action = 2 * self.ref_dof_pos
@@ -357,11 +410,15 @@ class Elf12DHStandEnv(LeggedRobot):
 
     def compute_observations(self):
 
-        phase = self._get_phase()
+        # phase = self._get_phase()
         self.compute_ref_state()
 
-        sin_pos = torch.sin(2 * torch.pi * phase).unsqueeze(1)
-        cos_pos = torch.cos(2 * torch.pi * phase).unsqueeze(1)
+        # sin_pos = torch.sin(2 * torch.pi * phase).unsqueeze(1)
+        # cos_pos = torch.cos(2 * torch.pi * phase).unsqueeze(1)
+        
+        l,r = self._get_phase_sin()
+        sin_pos = l.unsqueeze(1)
+        cos_pos = r.unsqueeze(1)
 
         stance_mask = self._get_stance_mask()
         contact_mask = self.contact_forces[:, self.feet_indices, 2] > 5.
@@ -473,6 +530,41 @@ class Elf12DHStandEnv(LeggedRobot):
 
         self.obs_buf = obs_buf_all.reshape(self.num_envs, -1)  # N, T*K
         self.privileged_obs_buf = torch.cat([self.critic_history[i] for i in range(self.cfg.env.c_frame_stack)], dim=1)
+    def get_amp_observations(self):
+        # Isaac Sim uses breadth-first joint ordering, while Isaac Gym uses depth-first joint ordering
+        joint_pos = self.dof_pos
+        joint_vel = self.dof_vel
+        if 1:
+            joint_pos += (2 * torch.rand_like(joint_pos) - 1) * 0.1
+            joint_vel += (2 * torch.rand_like(joint_vel) - 1) * 0.1
+        joint_pos = self.amp_loader.reorder_from_isaacgym_to_mujuco_tool(joint_pos)
+        joint_vel = self.amp_loader.reorder_from_isaacgym_to_mujuco_tool(joint_vel)
+        # joint_pos = AMPLoader.reorder_from_isaacgym_to_mujuco_tool(joint_pos)
+        # joint_vel = AMPLoader.reorder_from_isaacgym_to_mujuco_tool(joint_vel)
+        foot_pos = []
+        with torch.no_grad():
+            # for i, chain_ee in enumerate(self.chain_ee):
+            #     # foot_pos.append(chain_ee.forward_kinematics(joint_pos[:, i * 3 : i * 3 + 3]).get_matrix()[:, :3, 3])
+            #     foot_pos.append(joint_pos[:, 0:3])
+            
+            # self.ee_names = ["l_ankle_x_link", "r_ankle_x_link", "l_hand_contact", "l_hand_contact"]
+            foot_pos.append(self.chain_ee[0].forward_kinematics(joint_pos[:, 0:6]).get_matrix()[:, :3, 3])
+            foot_pos.append(self.chain_ee[1].forward_kinematics(joint_pos[:, 6:12]).get_matrix()[:, :3, 3]) 
+            # foot_pos.append(self.chain_ee[2].forward_kinematics(joint_pos[:, 12:16]).get_matrix()[:, :3, 3]) 
+            # foot_pos.append(self.chain_ee[3].forward_kinematics(joint_pos[:, 16:20]).get_matrix()[:, :3, 3])     
+                
+        foot_pos = torch.cat(foot_pos, dim=-1)
+        base_lin_vel = self.base_lin_vel
+        base_ang_vel =self.base_ang_vel
+        z_pos = self.root_states[:, 2:3]
+        if 1:
+            z_pos += (2 * torch.rand_like(z_pos) - 1) * 0.1
+            base_ang_vel += (2 * torch.rand_like(base_ang_vel) - 1) * 0.1
+            base_lin_vel += (2 * torch.rand_like(base_lin_vel) - 1) * 0.1
+        # joint_pos(0-19) foot_pos(20-31) base_lin_vel(32-34) base_ang_vel(35-37) joint_vel(38-59) z_pos(48)
+        
+        amp_obs = torch.cat((joint_pos, foot_pos, base_lin_vel, base_ang_vel, joint_vel, z_pos), dim=-1)
+        return amp_obs
     
     def reset_idx(self, env_ids):
         """ Reset some environments.
@@ -699,10 +791,11 @@ class Elf12DHStandEnv(LeggedRobot):
         Computes a reward based on the mismatch in the robot's linear and angular velocities. 
         Encourages the robot to maintain a stable velocity by penalizing large deviations.
         """
-        lin_mismatch = torch.exp(-torch.square(self.base_lin_vel[:, 2]) * 10)
+        # lin_mismatch = torch.exp(-torch.square(self.base_lin_vel[:, 2]) * 10)
         ang_mismatch = torch.exp(-torch.norm(self.base_ang_vel[:, :2], dim=1) * 5.)
 
-        c_update = (lin_mismatch + ang_mismatch) / 2.
+        # c_update = (lin_mismatch + ang_mismatch) / 2.
+        c_update = (ang_mismatch) / 2.
 
         return c_update
 
@@ -866,7 +959,8 @@ class Elf12DHStandEnv(LeggedRobot):
         term_2 = torch.sum(torch.square(
             self.actions + self.last_last_actions - 2 * self.last_actions), dim=1)
         term_3 = 0.05 * torch.sum(torch.abs(self.actions), dim=1)
-        return term_1 + term_2 + term_3
+        term_4 = 0.5 * torch.sum(torch.abs(self.actions[:,[0, 1, 6,7, 5,11]]), dim=1)
+        return term_1 + term_2 + term_3 + term_4
     
     def _reward_termination(self):
         # Terminal reward / penalty

humanoid/scripts/play.py

@@ -166,10 +166,10 @@ def play(args):
         actions = policy(obs.detach()) # * 0.
         
         if FIX_COMMAND:
-            env.commands[:, 0] = 0.5   # 1.0
+            env.commands[:, 0] = 1.49   # 1.0
             env.commands[:, 1] = 0
             env.commands[:, 2] = 0
-            env.commands[:, 3] = 0.
+            env.commands[:, 3] = 0
             
         else:
             env.commands[:, 0] = x_vel_cmd

humanoid/utils/kinematics/__init__.py

+from humanoid.utils.kinematics.urdf import *
+from humanoid.utils.kinematics.transforms import *
+from humanoid.utils.kinematics.chain import *

humanoid/utils/kinematics/chain.py

+import torch
+import humanoid.utils.kinematics.transforms as tf
+
+
+def ensure_2d_tensor(th, dtype, device):
+  if not torch.is_tensor(th):
+    th = torch.tensor(th, dtype=dtype, device=device)
+  if len(th.shape) <= 1:
+    N = 1
+    th = th.view(1, -1)
+  else:
+    N = th.shape[0]
+  return th, N
+
+
+class Chain(object):
+
+  def __init__(self, root_frame, dtype=torch.float32, device="cpu"):
+    self._root = root_frame
+    self.dtype = dtype
+    self.device = device
+
+  def to(self, dtype=None, device=None):
+    if dtype is not None:
+      self.dtype = dtype
+    if device is not None:
+      self.device = device
+    self._root = self._root.to(dtype=self.dtype, device=self.device)
+    return self
+
+  def __str__(self):
+    return str(self._root)
+
+  @staticmethod
+  def _find_frame_recursive(name, frame):
+    for child in frame.children:
+      if child.name == name:
+        return child
+      ret = Chain._find_frame_recursive(name, child)
+      if not ret is None:
+        return ret
+    return None
+
+  def find_frame(self, name):
+    if self._root.name == name:
+      return self._root
+    return self._find_frame_recursive(name, self._root)
+
+  @staticmethod
+  def _find_link_recursive(name, frame):
+    for child in frame.children:
+      if child.link.name == name:
+        return child.link
+      ret = Chain._find_link_recursive(name, child)
+      if not ret is None:
+        return ret
+    return None
+
+  def find_link(self, name):
+    if self._root.link.name == name:
+      return self._root.link
+    return self._find_link_recursive(name, self._root)
+
+  @staticmethod
+  def _get_joint_parameter_names(frame, exclude_fixed=True):
+    joint_names = []
+    if not (exclude_fixed and frame.joint.joint_type == "fixed"):
+      joint_names.append(frame.joint.name)
+    for child in frame.children:
+      joint_names.extend(Chain._get_joint_parameter_names(child, exclude_fixed))
+    return joint_names
+
+  def get_joint_parameter_names(self, exclude_fixed=True):
+    names = self._get_joint_parameter_names(self._root, exclude_fixed)
+    return sorted(set(names), key=names.index)
+
+  def add_frame(self, frame, parent_name):
+    frame = self.find_frame(parent_name)
+    if not frame is None:
+      frame.add_child(frame)
+
+  @staticmethod
+  def _forward_kinematics(root, th_dict, world=tf.Transform3d()):
+    link_transforms = {}
+
+    th, N = ensure_2d_tensor(
+        th_dict.get(root.joint.name, 0.0), world.dtype, world.device)
+
+    trans = world.compose(root.get_transform(th.view(N, 1)))
+    link_transforms[root.link.name] = trans.compose(root.link.offset)
+    for child in root.children:
+      link_transforms.update(Chain._forward_kinematics(child, th_dict, trans))
+    return link_transforms
+
+  def forward_kinematics(self, th, world=tf.Transform3d()):
+    if not isinstance(th, dict):
+      jn = self.get_joint_parameter_names()
+      assert len(jn) == len(th)
+      th_dict = dict((j, th[i]) for i, j in enumerate(jn))
+    else:
+      th_dict = th
+    if world.dtype != self.dtype or world.device != self.device:
+      world = world.to(dtype=self.dtype, device=self.device, copy=True)
+    return self._forward_kinematics(self._root, th_dict, world)
+
+
+class SerialChain(Chain):
+
+  def __init__(self, chain, end_frame_name, root_frame_name="", **kwargs):
+    if root_frame_name == "":
+      super(SerialChain, self).__init__(chain._root, **kwargs)
+    else:
+      super(SerialChain,
+            self).__init__(chain.find_frame(root_frame_name), **kwargs)
+      if self._root is None:
+        raise ValueError("Invalid root frame name %s." % root_frame_name)
+    self._serial_frames = self._generate_serial_chain_recurse(
+        self._root, end_frame_name)
+    if self._serial_frames is None:
+      raise ValueError("Invalid end frame name %s." % end_frame_name)
+
+  @staticmethod
+  def _generate_serial_chain_recurse(root_frame, end_frame_name):
+    for child in root_frame.children:
+      if child.name == end_frame_name:
+        return [child]
+      else:
+        frames = SerialChain._generate_serial_chain_recurse(
+            child, end_frame_name)
+        if not frames is None:
+          return [child] + frames
+    return None
+
+  def get_joint_parameter_names(self, exclude_fixed=True):
+    names = []
+    for f in self._serial_frames:
+      if exclude_fixed and f.joint.joint_type == "fixed":
+        continue
+      names.append(f.joint.name)
+    return names
+
+  def forward_kinematics(self, th, world=tf.Transform3d(), end_only=True):
+    if world.dtype != self.dtype or world.device != self.device:
+      world = world.to(dtype=self.dtype, device=self.device, copy=True)
+    th, N = ensure_2d_tensor(th, self.dtype, self.device)
+
+    cnt = 0
+    link_transforms = {}
+    trans = tf.Transform3d(matrix=world.get_matrix().repeat(N, 1, 1))
+    for f in self._serial_frames:
+      if f.joint.joint_type == "fixed":  # If fixed
+        trans = trans.compose(f.get_transform(th[:, 0].view(
+            N, 1)))  # Use th[0] because the value is not relevant
+      else:
+        trans = trans.compose(f.get_transform(th[:, cnt].view(N, 1)))
+        cnt += 1
+      link_transforms[f.link.name] = trans.compose(f.link.offset)
+
+    return link_transforms[
+        self._serial_frames[-1].link.name] if end_only else link_transforms

humanoid/utils/kinematics/frame.py

+import humanoid.utils.kinematics.transforms as tf
+import torch
+
+
+class Visual(object):
+  TYPES = ['box', 'cylinder', 'sphere', 'capsule', 'mesh']
+
+  def __init__(self, offset=tf.Transform3d(), geom_type=None, geom_param=None):
+    self.offset = offset
+    self.geom_type = geom_type
+    self.geom_param = geom_param
+
+  def __repr__(self):
+    return "Visual(offset={0}, geom_type='{1}', geom_param={2})".format(
+        self.offset, self.geom_type, self.geom_param)
+
+
+class Link(object):
+
+  def __init__(self, name=None, offset=tf.Transform3d(), visuals=()):
+    self.name = name
+    self.offset = offset
+    self.visuals = visuals
+
+  def to(self, *args, **kwargs):
+    self.offset = self.offset.to(*args, **kwargs)
+    return self
+
+  def __repr__(self):
+    return "Link(name='{0}', offset={1}, visuals={2})".format(
+        self.name, self.offset, self.visuals)
+
+
+class Joint(object):
+  TYPES = ['fixed', 'revolute', 'prismatic']
+
+  def __init__(self,
+               name=None,
+               offset=tf.Transform3d(),
+               joint_type='fixed',
+               axis=(0.0, 0.0, 1.0),
+               dtype=torch.float32,
+               device='cpu'):
+    self.name = name
+    self.offset = offset
+    if joint_type not in self.TYPES:
+      raise RuntimeError(
+          'joint specified as {} type not, but we only support {}'.format(
+              joint_type, self.TYPES))
+    self.joint_type = joint_type
+    if axis is None:
+      self.axis = torch.tensor([0.0, 0.0, 1.0], dtype=dtype, device=device)
+    else:
+      if torch.is_tensor(axis):
+        self.axis = axis.clone().detach().to(dtype=dtype, device=device)
+      else:
+        self.axis = torch.tensor(axis, dtype=dtype, device=device)
+    # normalize axis to have norm 1 (needed for correct representation scaling with theta)
+    self.axis = self.axis / self.axis.norm()
+
+  def to(self, *args, **kwargs):
+    self.axis = self.axis.to(*args, **kwargs)
+    self.offset = self.offset.to(*args, **kwargs)
+    return self
+
+  def __repr__(self):
+    return "Joint(name='{0}', offset={1}, joint_type='{2}', axis={3})".format(
+        self.name, self.offset, self.joint_type, self.axis)
+
+
+class Frame(object):
+
+  def __init__(self, name=None, link=Link(), joint=Joint(), children=()):
+    self.name = 'None' if name is None else name
+    self.link = link
+    self.joint = joint
+    self.children = children
+
+  def __str__(self, level=0):
+    ret = ' \t' * level + self.name + '\n'
+    for child in self.children:
+      ret += child.__str__(level + 1)
+    return ret
+
+  def to(self, *args, **kwargs):
+    self.joint = self.joint.to(*args, **kwargs)
+    self.link = self.link.to(*args, **kwargs)
+    self.children = [c.to(*args, **kwargs) for c in self.children]
+    return self
+
+  def add_child(self, child):
+    self.children.append(child)
+
+  def is_end(self):
+    return (len(self.children) == 0)
+
+  def get_transform(self, theta):
+    dtype = self.joint.axis.dtype
+    d = self.joint.axis.device
+    if self.joint.joint_type == 'revolute':
+      t = tf.Transform3d(
+          rot=tf.axis_angle_to_quaternion(theta * self.joint.axis),
+          dtype=dtype,
+          device=d)
+    elif self.joint.joint_type == 'prismatic':
+      t = tf.Transform3d(pos=theta * self.joint.axis, dtype=dtype, device=d)
+    elif self.joint.joint_type == 'fixed':
+      t = tf.Transform3d(
+          default_batch_size=theta.shape[0], dtype=dtype, device=d)
+    else:
+      raise ValueError('Unsupported joint type %s.' % self.joint.joint_type)
+    return self.joint.offset.compose(t)

humanoid/utils/kinematics/transforms/__init__.py

+"""Transform methods."""
+
+from .rotation_conversions import (
+    axis_angle_to_matrix, axis_angle_to_quaternion, euler_angles_to_matrix,
+    matrix_to_euler_angles, matrix_to_quaternion, matrix_to_rotation_6d,
+    quaternion_apply, quaternion_invert, quaternion_multiply,
+    quaternion_raw_multiply, quaternion_to_matrix, random_quaternions,
+    random_rotation, random_rotations, rotation_6d_to_matrix,
+    standardize_quaternion, xyzw_to_wxyz, wxyz_to_xyzw)
+from .so3 import (
+    so3_exp_map,
+    so3_log_map,
+    so3_relative_angle,
+    so3_rotation_angle,
+)
+from .transform3d import Rotate, RotateAxisAngle, Scale, Transform3d, Translate
+
+__all__ = [k for k in globals().keys() if not k.startswith("_")]

humanoid/utils/kinematics/transforms/math.py

+"""Math utilities for transforms."""
+
+import math
+from typing import Tuple, Union
+
+import torch
+
+
+def acos_linear_extrapolation(
+    x: torch.Tensor,
+    bound: Union[float, Tuple[float, float]] = 1.0 - 1e-4,
+) -> torch.Tensor:
+  """
+    Implements `arccos(x)` which is linearly extrapolated outside `x`'s original
+    domain of `(-1, 1)`. This allows for stable backpropagation in case `x`
+    is not guaranteed to be strictly within `(-1, 1)`.
+    More specifically:
+    ```
+    if -bound <= x <= bound:
+        acos_linear_extrapolation(x) = acos(x)
+    elif x <= -bound: # 1st order Taylor approximation
+        acos_linear_extrapolation(x) = acos(-bound) + dacos/dx(-bound) * (x -
+        (-bound))
+    else:  # x >= bound
+        acos_linear_extrapolation(x) = acos(bound) + dacos/dx(bound) * (x -
+        bound)
+    ```
+    Note that `bound` can be made more specific with setting
+    `bound=[lower_bound, upper_bound]` as detailed below.
+    Args:
+        x: Input `Tensor`.
+        bound: A float constant or a float 2-tuple defining the region for the
+          linear extrapolation of `acos`. If `bound` is a float scalar, linearly
+          interpolates acos for `x <= -bound` or `bound <= x`. If `bound` is a
+          2-tuple, the first/second element of `bound` describes the lower/upper
+          bound that defines the lower/upper extrapolation region, i.e. the
+          region where `x <= bound[0]`/`bound[1] <= x`. Note that all elements
+          of `bound` have to be within (-1, 1).
+
+    Returns:
+        acos_linear_extrapolation: `Tensor` containing the extrapolated
+        `arccos(x)`.
+    """
+
+  if isinstance(bound, float):
+    upper_bound = bound
+    lower_bound = -bound
+  else:
+    lower_bound, upper_bound = bound
+
+  if lower_bound > upper_bound:
+    raise ValueError("lower bound has to be smaller or equal to upper bound.")
+
+  if lower_bound <= -1.0 or upper_bound >= 1.0:
+    raise ValueError(
+        "Both lower bound and upper bound have to be within (-1, 1).")
+
+  # init an empty tensor and define the domain sets
+  acos_extrap = torch.empty_like(x)
+  x_upper = x >= upper_bound
+  x_lower = x <= lower_bound
+  x_mid = (~x_upper) & (~x_lower)
+
+  # acos calculation for upper_bound < x < lower_bound
+  acos_extrap[x_mid] = torch.acos(x[x_mid])
+  # the linear extrapolation for x >= upper_bound
+  acos_extrap[x_upper] = _acos_linear_approximation(x[x_upper], upper_bound)
+  # the linear extrapolation for x <= lower_bound
+  acos_extrap[x_lower] = _acos_linear_approximation(x[x_lower], lower_bound)
+
+  return acos_extrap
+
+
+def _acos_linear_approximation(x: torch.Tensor, x0: float) -> torch.Tensor:
+  """
+    Calculates the 1st order Taylor expansion of `arccos(x)` around `x0`.
+    """
+  return (x - x0) * _dacos_dx(x0) + math.acos(x0)
+
+
+def _dacos_dx(x: float) -> float:
+  """
+    Calculates the derivative of `arccos(x)` w.r.t. `x`.
+    """
+  return (-1.0) / math.sqrt(1.0 - x * x)

humanoid/utils/kinematics/transforms/rotation_conversions.py

+"""Rotation conversion methods."""
+import functools
+from typing import Optional
+
+import torch
+import torch.nn.functional as F
+"""The transformation matrices returned from the functions in this file assume the points on which the transformation will be applied are column vectors. i.e.
+
+the R matrix is structured as
+    R = [
+            [Rxx, Rxy, Rxz],
+            [Ryx, Ryy, Ryz],
+            [Rzx, Rzy, Rzz],
+        ]  # (3, 3)
+
+This matrix can be applied to column vectors by post multiplication
+by the points e.g.
+
+    points = [[0], [1], [2]]  # (3 x 1) xyz coordinates of a point
+    transformed_points = R * points
+
+To apply the same matrix to points which are row vectors, the R matrix
+can be transposed and pre multiplied by the points:
+
+e.g.
+    points = [[0, 1, 2]]  # (1 x 3) xyz coordinates of a point
+    transformed_points = points * R.transpose(1, 0)
+"""
+
+
+def xyzw_to_wxyz(quaternions):
+  return torch.cat([quaternions[..., None, -1], quaternions[..., :3]], dim=-1)
+
+
+def wxyz_to_xyzw(quaternions):
+  return torch.cat([quaternions[..., 1:], quaternions[..., None, 0]], dim=-1)
+
+
+def quaternion_to_matrix(quaternions):
+  """
+    Convert rotations given as quaternions to rotation matrices.
+
+    Args:
+        quaternions: quaternions with real part first, as tensor of shape (...,
+          4).
+
+    Returns:
+        Rotation matrices as tensor of shape (..., 3, 3).
+    """
+  r, i, j, k = torch.unbind(quaternions, -1)
+  two_s = 2.0 / (quaternions * quaternions).sum(-1)
+
+  o = torch.stack(
+      (
+          1 - two_s * (j * j + k * k),
+          two_s * (i * j - k * r),
+          two_s * (i * k + j * r),
+          two_s * (i * j + k * r),
+          1 - two_s * (i * i + k * k),
+          two_s * (j * k - i * r),
+          two_s * (i * k - j * r),
+          two_s * (j * k + i * r),
+          1 - two_s * (i * i + j * j),
+      ),
+      -1,
+  )
+  return o.reshape(quaternions.shape[:-1] + (3, 3))
+
+
+def _copysign(a, b):
+  """
+    Return a tensor where each element has the absolute value taken from the,
+    corresponding element of a, with sign taken from the corresponding
+    element of b. This is like the standard copysign floating-point operation,
+    but is not careful about negative 0 and NaN.
+
+    Args:
+        a: source tensor.
+        b: tensor whose signs will be used, of the same shape as a.
+
+    Returns:
+        Tensor of the same shape as a with the signs of b.
+    """
+  signs_differ = (a < 0) != (b < 0)
+  return torch.where(signs_differ, -a, a)
+
+
+def _sqrt_positive_part(x):
+  """
+    Returns torch.sqrt(torch.max(0, x))
+    but with a zero subgradient where x is 0.
+    """
+  ret = torch.zeros_like(x)
+  positive_mask = x > 0
+  ret[positive_mask] = torch.sqrt(x[positive_mask])
+  return ret
+
+
+def matrix_to_quaternion(matrix):
+  """
+    Convert rotations given as rotation matrices to quaternions.
+
+    Args:
+        matrix: Rotation matrices as tensor of shape (..., 3, 3).
+
+    Returns:
+        quaternions with real part first, as tensor of shape (..., 4).
+    """
+  if matrix.size(-1) != 3 or matrix.size(-2) != 3:
+    raise ValueError(f"Invalid rotation matrix  shape f{matrix.shape}.")
+  m00 = matrix[..., 0, 0]
+  m11 = matrix[..., 1, 1]
+  m22 = matrix[..., 2, 2]
+  o0 = 0.5 * _sqrt_positive_part(1 + m00 + m11 + m22)
+  x = 0.5 * _sqrt_positive_part(1 + m00 - m11 - m22)
+  y = 0.5 * _sqrt_positive_part(1 - m00 + m11 - m22)
+  z = 0.5 * _sqrt_positive_part(1 - m00 - m11 + m22)
+  o1 = _copysign(x, matrix[..., 2, 1] - matrix[..., 1, 2])
+  o2 = _copysign(y, matrix[..., 0, 2] - matrix[..., 2, 0])
+  o3 = _copysign(z, matrix[..., 1, 0] - matrix[..., 0, 1])
+  return torch.stack((o0, o1, o2, o3), -1)
+
+
+def _axis_angle_rotation(axis: str, angle):
+  """
+    Return the rotation matrices for one of the rotations about an axis
+    of which Euler angles describe, for each value of the angle given.
+
+    Args:
+        axis: Axis label "X" or "Y or "Z".
+        angle: any shape tensor of Euler angles in radians
+
+    Returns:
+        Rotation matrices as tensor of shape (..., 3, 3).
+    """
+
+  cos = torch.cos(angle)
+  sin = torch.sin(angle)
+  one = torch.ones_like(angle)
+  zero = torch.zeros_like(angle)
+
+  if axis == "X":
+    R_flat = (one, zero, zero, zero, cos, -sin, zero, sin, cos)
+  if axis == "Y":
+    R_flat = (cos, zero, sin, zero, one, zero, -sin, zero, cos)
+  if axis == "Z":
+    R_flat = (cos, -sin, zero, sin, cos, zero, zero, zero, one)
+
+  return torch.stack(R_flat, -1).reshape(angle.shape + (3, 3))
+
+
+def euler_angles_to_matrix(euler_angles, convention: str):
+  """
+    Convert rotations given as Euler angles in radians to rotation matrices.
+
+    Args:
+        euler_angles: Euler angles in radians as tensor of shape (..., 3).
+        convention: Convention string of three uppercase letters from {"X", "Y",
+          and "Z"}.
+
+    Returns:
+        Rotation matrices as tensor of shape (..., 3, 3).
+    """
+  if euler_angles.dim() == 0 or euler_angles.shape[-1] != 3:
+    raise ValueError("Invalid input euler angles.")
+  if len(convention) != 3:
+    raise ValueError("Convention must have 3 letters.")
+  if convention[1] in (convention[0], convention[2]):
+    raise ValueError(f"Invalid convention {convention}.")
+  for letter in convention:
+    if letter not in ("X", "Y", "Z"):
+      raise ValueError(f"Invalid letter {letter} in convention string.")
+  matrices = map(_axis_angle_rotation, convention,
+                 torch.unbind(euler_angles, -1))
+  return functools.reduce(torch.matmul, matrices)
+
+
+def _angle_from_tan(axis: str, other_axis: str, data, horizontal: bool,
+                    tait_bryan: bool):
+  """
+    Extract the first or third Euler angle from the two members of
+    the matrix which are positive constant times its sine and cosine.
+
+    Args:
+        axis: Axis label "X" or "Y or "Z" for the angle we are finding.
+        other_axis: Axis label "X" or "Y or "Z" for the middle axis in the
+          convention.
+        data: Rotation matrices as tensor of shape (..., 3, 3).
+        horizontal: Whether we are looking for the angle for the third axis,
+          which means the relevant entries are in the same row of the rotation
+          matrix. If not, they are in the same column.
+        tait_bryan: Whether the first and third axes in the convention differ.
+
+    Returns:
+        Euler Angles in radians for each matrix in data as a tensor
+        of shape (...).
+    """
+
+  i1, i2 = {"X": (2, 1), "Y": (0, 2), "Z": (1, 0)}[axis]
+  if horizontal:
+    i2, i1 = i1, i2
+  even = (axis + other_axis) in ["XY", "YZ", "ZX"]
+  if horizontal == even:
+    return torch.atan2(data[..., i1], data[..., i2])
+  if tait_bryan:
+    return torch.atan2(-data[..., i2], data[..., i1])
+  return torch.atan2(data[..., i2], -data[..., i1])
+
+
+def _index_from_letter(letter: str):
+  if letter == "X":
+    return 0
+  if letter == "Y":
+    return 1
+  if letter == "Z":
+    return 2
+
+
+def matrix_to_euler_angles(matrix, convention: str):
+  """
+    Convert rotations given as rotation matrices to Euler angles in radians.
+
+    Args:
+        matrix: Rotation matrices as tensor of shape (..., 3, 3).
+        convention: Convention string of three uppercase letters.
+
+    Returns:
+        Euler angles in radians as tensor of shape (..., 3).
+    """
+  if len(convention) != 3:
+    raise ValueError("Convention must have 3 letters.")
+  if convention[1] in (convention[0], convention[2]):
+    raise ValueError(f"Invalid convention {convention}.")
+  for letter in convention:
+    if letter not in ("X", "Y", "Z"):
+      raise ValueError(f"Invalid letter {letter} in convention string.")
+  if matrix.size(-1) != 3 or matrix.size(-2) != 3:
+    raise ValueError(f"Invalid rotation matrix  shape f{matrix.shape}.")
+  i0 = _index_from_letter(convention[0])
+  i2 = _index_from_letter(convention[2])
+  tait_bryan = i0 != i2
+  if tait_bryan:
+    central_angle = torch.asin(matrix[..., i0, i2] *
+                               (-1.0 if i0 - i2 in [-1, 2] else 1.0))
+  else:
+    central_angle = torch.acos(matrix[..., i0, i0])
+
+  o = (
+      _angle_from_tan(convention[0], convention[1], matrix[..., i2], False,
+                      tait_bryan),
+      central_angle,
+      _angle_from_tan(convention[2], convention[1], matrix[..., i0, :], True,
+                      tait_bryan),
+  )
+  return torch.stack(o, -1)
+
+
+def random_quaternions(n: int,
+                       dtype: Optional[torch.dtype] = None,
+                       device=None,
+                       requires_grad=False):
+  """
+    Generate random quaternions representing rotations,
+    i.e. versors with nonnegative real part.
+
+    Args:
+        n: Number of quaternions in a batch to return.
+        dtype: Type to return.
+        device: Desired device of returned tensor. Default: uses the current
+          device for the default tensor type.
+        requires_grad: Whether the resulting tensor should have the gradient
+          flag set.
+
+    Returns:
+        Quaternions as tensor of shape (N, 4).
+    """
+  o = torch.randn((n, 4),
+                  dtype=dtype,
+                  device=device,
+                  requires_grad=requires_grad)
+  s = (o * o).sum(1)
+  o = o / _copysign(torch.sqrt(s), o[:, 0])[:, None]
+  return o
+
+
+def random_rotations(n: int,
+                     dtype: Optional[torch.dtype] = None,
+                     device=None,
+                     requires_grad=False):
+  """
+    Generate random rotations as 3x3 rotation matrices.
+
+    Args:
+        n: Number of rotation matrices in a batch to return.
+        dtype: Type to return.
+        device: Device of returned tensor. Default: if None, uses the current
+          device for the default tensor type.
+        requires_grad: Whether the resulting tensor should have the gradient
+          flag set.
+
+    Returns:
+        Rotation matrices as tensor of shape (n, 3, 3).
+    """
+  quaternions = random_quaternions(
+      n, dtype=dtype, device=device, requires_grad=requires_grad)
+  return quaternion_to_matrix(quaternions)
+
+
+def random_rotation(dtype: Optional[torch.dtype] = None,
+                    device=None,
+                    requires_grad=False):
+  """
+    Generate a single random 3x3 rotation matrix.
+
+    Args:
+        dtype: Type to return
+        device: Device of returned tensor. Default: if None, uses the current
+          device for the default tensor type
+        requires_grad: Whether the resulting tensor should have the gradient
+          flag set
+
+    Returns:
+        Rotation matrix as tensor of shape (3, 3).
+    """
+  return random_rotations(1, dtype, device, requires_grad)[0]
+
+
+def standardize_quaternion(quaternions):
+  """
+    Convert a unit quaternion to a standard form: one in which the real
+    part is non negative.
+
+    Args:
+        quaternions: Quaternions with real part first, as tensor of shape (...,
+          4).
+
+    Returns:
+        Standardized quaternions as tensor of shape (..., 4).
+    """
+  return torch.where(quaternions[..., 0:1] < 0, -quaternions, quaternions)
+
+
+def quaternion_raw_multiply(a, b):
+  """
+    Multiply two quaternions.
+    Usual torch rules for broadcasting apply.
+
+    Args:
+        a: Quaternions as tensor of shape (..., 4), real part first.
+        b: Quaternions as tensor of shape (..., 4), real part first.
+
+    Returns:
+        The product of a and b, a tensor of quaternions shape (..., 4).
+    """
+  aw, ax, ay, az = torch.unbind(a, -1)
+  bw, bx, by, bz = torch.unbind(b, -1)
+  ow = aw * bw - ax * bx - ay * by - az * bz
+  ox = aw * bx + ax * bw + ay * bz - az * by
+  oy = aw * by - ax * bz + ay * bw + az * bx
+  oz = aw * bz + ax * by - ay * bx + az * bw
+  return torch.stack((ow, ox, oy, oz), -1)
+
+
+def quaternion_multiply(a, b):
+  """
+    Multiply two quaternions representing rotations, returning the quaternion
+    representing their composition, i.e. the versor with nonnegative real part.
+    Usual torch rules for broadcasting apply.
+
+    Args:
+        a: Quaternions as tensor of shape (..., 4), real part first.
+        b: Quaternions as tensor of shape (..., 4), real part first.
+
+    Returns:
+        The product of a and b, a tensor of quaternions of shape (..., 4).
+    """
+  ab = quaternion_raw_multiply(a, b)
+  return standardize_quaternion(ab)
+
+
+def quaternion_invert(quaternion):
+  """
+    Given a quaternion representing rotation, get the quaternion representing
+    its inverse.
+
+    Args:
+        quaternion: Quaternions as tensor of shape (..., 4), with real part
+          first, which must be versors (unit quaternions).
+
+    Returns:
+        The inverse, a tensor of quaternions of shape (..., 4).
+    """
+
+  return quaternion * quaternion.new_tensor([1, -1, -1, -1])
+
+
+def quaternion_apply(quaternion, point):
+  """
+    Apply the rotation given by a quaternion to a 3D point.
+    Usual torch rules for broadcasting apply.
+
+    Args:
+        quaternion: Tensor of quaternions, real part first, of shape (..., 4).
+        point: Tensor of 3D points of shape (..., 3).
+
+    Returns:
+        Tensor of rotated points of shape (..., 3).
+    """
+  if point.size(-1) != 3:
+    raise ValueError(f"Points are not in 3D, f{point.shape}.")
+  real_parts = point.new_zeros(point.shape[:-1] + (1,))
+  point_as_quaternion = torch.cat((real_parts, point), -1)
+  out = quaternion_raw_multiply(
+      quaternion_raw_multiply(quaternion, point_as_quaternion),
+      quaternion_invert(quaternion),
+  )
+  return out[..., 1:]
+
+
+def axis_angle_to_matrix(axis_angle):
+  """
+    Convert rotations given as axis/angle to rotation matrices.
+
+    Args:
+        axis_angle: Rotations given as a vector in axis angle form, as a tensor
+          of shape (..., 3), where the magnitude is the angle turned
+          anticlockwise in radians around the vector's direction.
+
+    Returns:
+        Rotation matrices as tensor of shape (..., 3, 3).
+    """
+  return quaternion_to_matrix(axis_angle_to_quaternion(axis_angle))
+
+
+def matrix_to_axis_angle(matrix):
+  """
+    Convert rotations given as rotation matrices to axis/angle.
+
+    Args:
+        matrix: Rotation matrices as tensor of shape (..., 3, 3).
+
+    Returns:
+        Rotations given as a vector in axis angle form, as a tensor
+            of shape (..., 3), where the magnitude is the angle
+            turned anticlockwise in radians around the vector's
+            direction.
+    """
+  return quaternion_to_axis_angle(matrix_to_quaternion(matrix))
+
+
+def axis_angle_to_quaternion(axis_angle):
+  """
+    Convert rotations given as axis/angle to quaternions.
+
+    Args:
+        axis_angle: Rotations given as a vector in axis angle form, as a tensor
+          of shape (..., 3), where the magnitude is the angle turned
+          anticlockwise in radians around the vector's direction.
+
+    Returns:
+        quaternions with real part first, as tensor of shape (..., 4).
+    """
+  angles = torch.norm(axis_angle, p=2, dim=-1, keepdim=True)
+  half_angles = 0.5 * angles
+  eps = 1e-6
+  small_angles = angles.abs() < eps
+  any_small_angles = torch.any(small_angles)
+
+  sin_half_angles_over_angles = torch.empty_like(angles)
+
+  sin_half_angles_over_angles = (torch.sin(half_angles) / angles)
+  if any_small_angles:
+    # for x small, sin(x/2) is about x/2 - (x/2)^3/6
+    # so sin(x/2)/x is about 1/2 - (x*x)/48
+    sin_half_angles_over_angles[small_angles] = (
+        0.5 - (angles[small_angles] * angles[small_angles]) / 48)
+  quaternions = torch.cat(
+      [torch.cos(half_angles), axis_angle * sin_half_angles_over_angles],
+      dim=-1)
+  return quaternions
+
+
+def quaternion_to_axis_angle(quaternions):
+  """
+    Convert rotations given as quaternions to axis/angle.
+
+    Args:
+        quaternions: quaternions with real part first, as tensor of shape (...,
+          4).
+
+    Returns:
+        Rotations given as a vector in axis angle form, as a tensor
+            of shape (..., 3), where the magnitude is the angle
+            turned anticlockwise in radians around the vector's
+            direction.
+    """
+  norms = torch.norm(quaternions[..., 1:], p=2, dim=-1, keepdim=True)
+  half_angles = torch.atan2(norms, quaternions[..., :1])
+  angles = 2 * half_angles
+  eps = 1e-6
+  small_angles = angles.abs() < eps
+  sin_half_angles_over_angles = torch.empty_like(angles)
+  sin_half_angles_over_angles[~small_angles] = (
+      torch.sin(half_angles[~small_angles]) / angles[~small_angles])
+  # for x small, sin(x/2) is about x/2 - (x/2)^3/6
+  # so sin(x/2)/x is about 1/2 - (x*x)/48
+  sin_half_angles_over_angles[small_angles] = (
+      0.5 - (angles[small_angles] * angles[small_angles]) / 48)
+  return quaternions[..., 1:] / sin_half_angles_over_angles
+
+
+def rotation_6d_to_matrix(d6: torch.Tensor) -> torch.Tensor:
+  """
+    Converts 6D rotation representation by Zhou et al. [1] to rotation matrix
+    using Gram--Schmidt orthogonalisation per Section B of [1].
+    Args:
+        d6: 6D rotation representation, of size (*, 6)
+
+    Returns:
+        batch of rotation matrices of size (*, 3, 3)
+
+    [1] Zhou, Y., Barnes, C., Lu, J., Yang, J., & Li, H.
+    On the Continuity of Rotation Representations in Neural Networks.
+    IEEE Conference on Computer Vision and Pattern Recognition, 2019.
+    Retrieved from http://arxiv.org/abs/1812.07035
+    """
+
+  a1, a2 = d6[..., :3], d6[..., 3:]
+  b1 = F.normalize(a1, dim=-1)
+  b2 = a2 - (b1 * a2).sum(-1, keepdim=True) * b1
+  b2 = F.normalize(b2, dim=-1)
+  b3 = torch.cross(b1, b2, dim=-1)
+  return torch.stack((b1, b2, b3), dim=-2)
+
+
+def matrix_to_rotation_6d(matrix: torch.Tensor) -> torch.Tensor:
+  """
+    Converts rotation matrices to 6D rotation representation by Zhou et al. [1]
+    by dropping the last row. Note that 6D representation is not unique.
+    Args:
+        matrix: batch of rotation matrices of size (*, 3, 3)
+
+    Returns:
+        6D rotation representation, of size (*, 6)
+
+    [1] Zhou, Y., Barnes, C., Lu, J., Yang, J., & Li, H.
+    On the Continuity of Rotation Representations in Neural Networks.
+    IEEE Conference on Computer Vision and Pattern Recognition, 2019.
+    Retrieved from http://arxiv.org/abs/1812.07035
+    """
+  return matrix[..., :2, :].clone().reshape(*matrix.size()[:-2], 6)

humanoid/utils/kinematics/transforms/so3.py

+"""Special orthogonal group."""
+import warnings
+from typing import Tuple
+import torch
+
+from humanoid.utils.kinematics.transforms.math import acos_linear_extrapolation
+
+HAT_INV_SKEW_SYMMETRIC_TOL = 1e-5
+
+
+def so3_relative_angle(R1, R2, cos_angle: bool = False):
+  """
+    Calculates the relative angle (in radians) between pairs of
+    rotation matrices `R1` and `R2` with `angle = acos(0.5 * (Trace(R1
+    R2^T)-1))`
+
+    .. note::
+        This corresponds to a geodesic distance on the 3D manifold of rotation
+        matrices.
+
+    Args:
+        R1: Batch of rotation matrices of shape `(minibatch, 3, 3)`.
+        R2: Batch of rotation matrices of shape `(minibatch, 3, 3)`.
+        cos_angle: If==True return cosine of the relative angle rather than the
+          angle itself. This can avoid the unstable calculation of `acos`.
+
+    Returns:
+        Corresponding rotation angles of shape `(minibatch,)`.
+        If `cos_angle==True`, returns the cosine of the angles.
+
+    Raises:
+        ValueError if `R1` or `R2` is of incorrect shape.
+        ValueError if `R1` or `R2` has an unexpected trace.
+    """
+  R12 = torch.bmm(R1, R2.permute(0, 2, 1))
+  return so3_rotation_angle(R12, cos_angle=cos_angle)
+
+
+def so3_rotation_angle(
+    R: torch.Tensor,
+    eps: float = 1e-4,
+    cos_angle: bool = False,
+    cos_bound: float = 1e-4,
+) -> torch.Tensor:
+  """
+    Calculates angles (in radians) of a batch of rotation matrices `R` with
+    `angle = acos(0.5 * (Trace(R)-1))`. The trace of the
+    input matrices is checked to be in the valid range `[-1-eps,3+eps]`.
+    The `eps` argument is a small constant that allows for small errors
+    caused by limited machine precision.
+    Args:
+        R: Batch of rotation matrices of shape `(minibatch, 3, 3)`.
+        eps: Tolerance for the valid trace check.
+        cos_angle: If==True return cosine of the rotation angles rather than the
+          angle itself. This can avoid the unstable calculation of `acos`.
+        cos_bound: Clamps the cosine of the rotation angle to [-1 + cos_bound, 1
+          - cos_bound] to avoid non-finite outputs/gradients of the `acos` call.
+          Note that the non-finite outputs/gradients are returned when the angle
+          is requested (i.e. `cos_angle==False`) and the rotation angle is close
+          to 0 or π.
+
+    Returns:
+        Corresponding rotation angles of shape `(minibatch,)`.
+        If `cos_angle==True`, returns the cosine of the angles.
+    Raises:
+        ValueError if `R` is of incorrect shape.
+        ValueError if `R` has an unexpected trace.
+    """
+
+  N, dim1, dim2 = R.shape
+  if dim1 != 3 or dim2 != 3:
+    raise ValueError("Input has to be a batch of 3x3 Tensors.")
+
+  rot_trace = R[:, 0, 0] + R[:, 1, 1] + R[:, 2, 2]
+
+  if ((rot_trace < -1.0 - eps) + (rot_trace > 3.0 + eps)).any():
+    raise ValueError("A matrix has trace outside valid range [-1-eps,3+eps].")
+
+  # phi ... rotation angle
+  phi_cos = (rot_trace - 1.0) * 0.5
+
+  if cos_angle:
+    return phi_cos
+  else:
+    if cos_bound > 0.0:
+      return acos_linear_extrapolation(phi_cos, 1.0 - cos_bound)
+    else:
+      return torch.acos(phi_cos)
+
+
+def so3_exp_map(log_rot: torch.Tensor, eps: float = 0.0001) -> torch.Tensor:
+  """
+    Convert a batch of logarithmic representations of rotation matrices
+    `log_rot`
+    to a batch of 3x3 rotation matrices using Rodrigues formula [1].
+    In the logarithmic representation, each rotation matrix is represented as
+    a 3-dimensional vector (`log_rot`) who's l2-norm and direction correspond
+    to the magnitude of the rotation angle and the axis of rotation
+    respectively.
+    The conversion has a singularity around `log(R) = 0`
+    which is handled by clamping controlled with the `eps` argument.
+    Args:
+        log_rot: Batch of vectors of shape `(minibatch, 3)`.
+        eps: A float constant handling the conversion singularity.
+
+    Returns:
+        Batch of rotation matrices of shape `(minibatch, 3, 3)`.
+    Raises:
+        ValueError if `log_rot` is of incorrect shape.
+    [1] https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula
+    """
+  return _so3_exp_map(log_rot, eps=eps)[0]
+
+
+def _so3_exp_map(
+    log_rot: torch.Tensor,
+    eps: float = 0.0001
+) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]:
+  """
+    A helper function that computes the so3 exponential map and,
+    apart from the rotation matrix, also returns intermediate variables
+    that can be re-used in other functions.
+    """
+  _, dim = log_rot.shape
+  if dim != 3:
+    raise ValueError("Input tensor shape has to be Nx3.")
+
+  nrms = (log_rot * log_rot).sum(1)
+  # phis ... rotation angles
+  rot_angles = torch.clamp(nrms, eps).sqrt()
+  rot_angles_inv = 1.0 / rot_angles
+  fac1 = rot_angles_inv * rot_angles.sin()
+  fac2 = rot_angles_inv * rot_angles_inv * (1.0 - rot_angles.cos())
+  skews = hat(log_rot)
+  skews_square = torch.bmm(skews, skews)
+
+  R = (
+      # pyre-fixme[16]: `float` has no attribute `__getitem__`.
+      fac1[:, None, None] * skews + fac2[:, None, None] * skews_square +
+      torch.eye(3, dtype=log_rot.dtype, device=log_rot.device)[None])
+
+  return R, rot_angles, skews, skews_square
+
+
+def so3_log_map(R, eps: float = 0.0001):
+  """
+    Convert a batch of 3x3 rotation matrices `R`
+    to a batch of 3-dimensional matrix logarithms of rotation matrices
+    The conversion has a singularity around `(R=I)` which is handled
+    by clamping controlled with the `eps` argument.
+
+    Args:
+        R: batch of rotation matrices of shape `(minibatch, 3, 3)`.
+        eps: A float constant handling the conversion singularity.
+
+    Returns:
+        Batch of logarithms of input rotation matrices
+        of shape `(minibatch, 3)`.
+
+    Raises:
+        ValueError if `R` is of incorrect shape.
+        ValueError if `R` has an unexpected trace.
+    """
+
+  N, dim1, dim2 = R.shape
+  if dim1 != 3 or dim2 != 3:
+    raise ValueError("Input has to be a batch of 3x3 Tensors.")
+
+  phi = so3_rotation_angle(R)
+
+  phi_sin = phi.sin()
+
+  phi_denom = (
+      torch.clamp(phi_sin.abs(), eps) * phi_sin.sign() +
+      (phi_sin == 0).type_as(phi) * eps)
+
+  log_rot_hat = (phi / (2.0 * phi_denom))[:, None, None] * (
+      R - R.permute(0, 2, 1))
+  log_rot = hat_inv(log_rot_hat)
+
+  return log_rot
+
+
+def hat_inv(h):
+  """
+    Compute the inverse Hat operator [1] of a batch of 3x3 matrices.
+
+    Args:
+        h: Batch of skew-symmetric matrices of shape `(minibatch, 3, 3)`.
+
+    Returns:
+        Batch of 3d vectors of shape `(minibatch, 3, 3)`.
+
+    Raises:
+        ValueError if `h` is of incorrect shape.
+        ValueError if `h` not skew-symmetric.
+
+    [1] https://en.wikipedia.org/wiki/Hat_operator
+    """
+
+  N, dim1, dim2 = h.shape
+  if dim1 != 3 or dim2 != 3:
+    raise ValueError("Input has to be a batch of 3x3 Tensors.")
+
+  ss_diff = (h + h.permute(0, 2, 1)).abs().max()
+  if float(ss_diff) > HAT_INV_SKEW_SYMMETRIC_TOL:
+    raise ValueError("One of input matrices not skew-symmetric.")
+
+  x = h[:, 2, 1]
+  y = h[:, 0, 2]
+  z = h[:, 1, 0]
+
+  v = torch.stack((x, y, z), dim=1)
+
+  return v
+
+
+def hat(v):
+  """
+    Compute the Hat operator [1] of a batch of 3D vectors.
+
+    Args:
+        v: Batch of vectors of shape `(minibatch , 3)`.
+
+    Returns:
+        Batch of skew-symmetric matrices of shape
+        `(minibatch, 3 , 3)` where each matrix is of the form:
+            `[    0  -v_z   v_y ]
+             [  v_z     0  -v_x ]
+             [ -v_y   v_x     0 ]`
+
+    Raises:
+        ValueError if `v` is of incorrect shape.
+
+    [1] https://en.wikipedia.org/wiki/Hat_operator
+    """
+
+  N, dim = v.shape
+  if dim != 3:
+    raise ValueError("Input vectors have to be 3-dimensional.")
+
+  h = v.new_zeros(N, 3, 3)
+
+  x, y, z = v.unbind(1)
+
+  h[:, 0, 1] = -z
+  h[:, 0, 2] = y
+  h[:, 1, 0] = z
+  h[:, 1, 2] = -x
+  h[:, 2, 0] = -y
+  h[:, 2, 1] = x
+
+  return h

humanoid/utils/kinematics/transforms/transform3d.py

+"""3D transformations."""
+
+import math
+import typing
+import warnings
+from typing import Optional
+
+import torch
+
+from .rotation_conversions import _axis_angle_rotation, matrix_to_quaternion, quaternion_to_matrix, \
+    euler_angles_to_matrix
+
+DEFAULT_EULER_CONVENTION = "XYZ"
+
+
+class Transform3d:
+    """
+    A Transform3d object encapsulates a batch of N 3D transformations, and knows
+    how to transform points and normal vectors. Suppose that t is a Transform3d;
+    then we can do the following:
+
+    .. code-block:: python
+
+        N = len(t)
+        points = torch.randn(N, P, 3)
+        normals = torch.randn(N, P, 3)
+        points_transformed = t.transform_points(points)    # => (N, P, 3)
+        normals_transformed = t.transform_normals(normals)  # => (N, P, 3)
+
+
+    BROADCASTING
+    Transform3d objects supports broadcasting. Suppose that t1 and tN are
+    Transform3D objects with len(t1) == 1 and len(tN) == N respectively. Then we
+    can broadcast transforms like this:
+
+    .. code-block:: python
+
+        t1.transform_points(torch.randn(P, 3))     # => (P, 3)
+        t1.transform_points(torch.randn(1, P, 3))  # => (1, P, 3)
+        t1.transform_points(torch.randn(M, P, 3))  # => (M, P, 3)
+        tN.transform_points(torch.randn(P, 3))     # => (N, P, 3)
+        tN.transform_points(torch.randn(1, P, 3))  # => (N, P, 3)
+
+
+    COMBINING TRANSFORMS
+    Transform3d objects can be combined in two ways: composing and stacking.
+    Composing is function composition. Given Transform3d objects t1, t2, t3,
+    the following all compute the same thing:
+
+    .. code-block:: python
+
+        y1 = t3.transform_points(t2.transform_points(t1.transform_points(x)))
+        y2 = t1.compose(t2).compose(t3).transform_points(x)
+        y3 = t1.compose(t2, t3).transform_points(x)
+
+
+    Composing transforms should broadcast.
+
+    .. code-block:: python
+
+        if len(t1) == 1 and len(t2) == N, then len(t1.compose(t2)) == N.
+
+    We can also stack a sequence of Transform3d objects, which represents
+    composition along the batch dimension; then the following should compute the
+    same thing.
+
+    .. code-block:: python
+
+        N, M = len(tN), len(tM)
+        xN = torch.randn(N, P, 3)
+        xM = torch.randn(M, P, 3)
+        y1 = torch.cat([tN.transform_points(xN), tM.transform_points(xM)], dim=0)
+        y2 = tN.stack(tM).transform_points(torch.cat([xN, xM], dim=0))
+
+    BUILDING TRANSFORMS
+    We provide convenience methods for easily building Transform3d objects
+    as compositions of basic transforms.
+
+    .. code-block:: python
+
+        # Scale by 0.5, then translate by (1, 2, 3)
+        t1 = Transform3d().scale(0.5).translate(1, 2, 3)
+
+        # Scale each axis by a different amount, then translate, then scale
+        t2 = Transform3d().scale(1, 3, 3).translate(2, 3, 1).scale(2.0)
+
+        t3 = t1.compose(t2)
+        tN = t1.stack(t3, t3)
+
+
+    BACKPROP THROUGH TRANSFORMS
+    When building transforms, we can also parameterize them by Torch tensors;
+    in this case we can backprop through the construction and application of
+    Transform objects, so they could be learned via gradient descent or
+    predicted by a neural network.
+
+    .. code-block:: python
+
+        s1_params = torch.randn(N, requires_grad=True)
+        t_params = torch.randn(N, 3, requires_grad=True)
+        s2_params = torch.randn(N, 3, requires_grad=True)
+
+        t = Transform3d().scale(s1_params).translate(t_params).scale(s2_params)
+        x = torch.randn(N, 3)
+        y = t.transform_points(x)
+        loss = compute_loss(y)
+        loss.backward()
+
+        with torch.no_grad():
+            s1_params -= lr * s1_params.grad
+            t_params -= lr * t_params.grad
+            s2_params -= lr * s2_params.grad
+
+    CONVENTIONS
+    We adopt a right-hand coordinate system, meaning that rotation about an axis
+    with a positive angle results in a counter clockwise rotation.
+
+    This class assumes that transformations are applied on inputs which
+    are column vectors (different from pytorch3d!). The internal representation of the Nx4x4 transformation
+    matrix is of the form:
+
+    .. code-block:: python
+
+        M = [
+                [Rxx, Ryx, Rzx, Tx],
+                [Rxy, Ryy, Rzy, Ty],
+                [Rxz, Ryz, Rzz, Tz],
+                [0,  0,  0,  1],
+            ]
+
+    To apply the transformation to points which are row vectors, the M matrix
+    can be pre multiplied by the points:
+
+    .. code-block:: python
+
+        points = [[0, 1, 2]]  # (1 x 3) xyz coordinates of a point
+        transformed_point = M @ points[0]
+        transformed_points = points @ M.transpose(-1,-2)
+
+    Euler angles given as input by default are interpreted to be in "RXYZ" convention.
+    Quaternions given as input should be in [w,x,y,z] order.
+    """
+
+    def __init__(
+            self,
+            default_batch_size=1,
+            dtype: torch.dtype = torch.float32,
+            device='cpu',
+            matrix: Optional[torch.Tensor] = None,
+            rot: Optional[typing.Iterable] = None,
+            pos: Optional[typing.Iterable] = None,
+    ):
+        """
+        Args:
+            default_batch_size: A positive integer representing the minibatch size
+                if matrix is None, rot is None, and pos is also None.
+            dtype: The data type of the transformation matrix.
+                to be used if `matrix = None`.
+            device: The device for storing the implemented transformation.
+                If `matrix != None`, uses the device of input `matrix`.
+            matrix: A tensor of shape (4, 4) or of shape (minibatch, 4, 4)
+                representing the 4x4 3D transformation matrix.
+                If `None`, initializes with identity using
+                the specified `device` and `dtype`.
+            rot: A rotation matrix of shape (3, 3) or of shape (minibatch, 3, 3), or
+                a quaternion of shape (4,) or of shape (minibatch, 4), where
+                minibatch should match that of matrix if that is also passed in.
+                The rotation overrides the rotation given in the matrix argument, if any.
+            pos: A tensor of shape (3,) or of shape (minibatch, 3) representing the position
+                offsets of the transforms, where minibatch should match that of matrix if
+                that is also passed in. The position overrides the position given in the
+                matrix argument, if any.
+        """
+        if matrix is None:
+            self._matrix = torch.eye(4, dtype=dtype, device=device).unsqueeze(0).repeat(default_batch_size, 1, 1)
+        else:
+            if matrix.ndim not in (2, 3):
+                raise ValueError('"matrix" has to be a 2- or a 3-dimensional tensor.')
+            if matrix.shape[-2] != 4 or matrix.shape[-1] != 4:
+                raise ValueError(
+                    '"matrix" has to be a tensor of shape (minibatch, 4, 4)'
+                )
+            # set the device from matrix
+            device = matrix.device
+            self._matrix = matrix.view(-1, 4, 4)
+
+        if pos is not None:
+            if not torch.is_tensor(pos):
+                pos = torch.tensor(pos, dtype=dtype, device=device)
+            if pos.ndim in (2, 3) and pos.shape[0] > 1 and self._matrix.shape[0] == 1:
+                self._matrix = self._matrix.repeat(pos.shape[0], 1, 1)
+            self._matrix[:, :3, 3] = pos
+
+        if rot is not None:
+            if not torch.is_tensor(rot):
+                rot = torch.tensor(rot, dtype=dtype, device=device)
+            if rot.shape[-1] == 4:
+                rot = quaternion_to_matrix(rot)
+            elif rot.shape[-1] == 3 and (len(rot.shape) == 1 or rot.shape[-2] != 3):
+                rot = euler_angles_to_matrix(rot, DEFAULT_EULER_CONVENTION)
+            if rot.ndim == 3 and rot.shape[0] > 1 and self._matrix.shape[0] == 1:
+                self._matrix = self._matrix.repeat(rot.shape[0], 1, 1)
+            self._matrix[:, :3, :3] = rot
+
+        self._transforms = []  # store transforms to compose
+        self._lu = None
+        self.device = device
+        self.dtype = self._matrix.dtype
+
+    def __len__(self):
+        return self.get_matrix().shape[0]
+
+    def __repr__(self):
+        m = self.get_matrix()
+        pos = m[:, :3, 3]
+        rot = matrix_to_quaternion(m[:, :3, :3])
+        return "Transform3d(rot={}, pos={})".format(rot, pos).replace('\n       ', '')
+
+    def compose(self, *others):
+        """
+        Return a new Transform3d with the tranforms to compose stored as
+        an internal list.
+
+        Args:
+            *others: Any number of Transform3d objects
+
+        Returns:
+            A new Transform3d with the stored transforms
+        """
+        out = Transform3d(device=self.device, dtype=self.dtype)
+        out._matrix = self._matrix.clone()
+        for other in others:
+            if not isinstance(other, Transform3d):
+                msg = "Only possible to compose Transform3d objects; got %s"
+                raise ValueError(msg % type(other))
+        out._transforms = self._transforms + list(others)
+        return out
+
+    def get_matrix(self):
+        """
+        Return a matrix which is the result of composing this transform
+        with others stored in self.transforms. Where necessary transforms
+        are broadcast against each other.
+        For example, if self.transforms contains transforms t1, t2, and t3, and
+        given a set of points x, the following should be true:
+
+        .. code-block:: python
+
+            y1 = t1.compose(t2, t3).transform(x)
+            y2 = t3.transform(t2.transform(t1.transform(x)))
+            y1.get_matrix() == y2.get_matrix()
+
+        Returns:
+            A transformation matrix representing the composed inputs.
+        """
+        composed_matrix = self._matrix.clone()
+        if len(self._transforms) > 0:
+            for other in self._transforms:
+                other_matrix = other.get_matrix()
+                composed_matrix = _broadcast_bmm(composed_matrix, other_matrix)
+        return composed_matrix
+
+    def _get_matrix_inverse(self):
+        """
+        Return the inverse of self._matrix.
+        """
+        return torch.inverse(self._matrix)
+
+    def inverse(self, invert_composed: bool = False):
+        """
+        Returns a new Transform3D object that represents an inverse of the
+        current transformation.
+
+        Args:
+            invert_composed:
+                - True: First compose the list of stored transformations
+                  and then apply inverse to the result. This is
+                  potentially slower for classes of transformations
+                  with inverses that can be computed efficiently
+                  (e.g. rotations and translations).
+                - False: Invert the individual stored transformations
+                  independently without composing them.
+
+        Returns:
+            A new Transform3D object contaning the inverse of the original
+            transformation.
+        """
+
+        tinv = Transform3d(device=self.device)
+
+        if invert_composed:
+            # first compose then invert
+            tinv._matrix = torch.inverse(self.get_matrix())
+        else:
+            # self._get_matrix_inverse() implements efficient inverse
+            # of self._matrix
+            i_matrix = self._get_matrix_inverse()
+
+            # 2 cases:
+            if len(self._transforms) > 0:
+                # a) Either we have a non-empty list of transforms:
+                # Here we take self._matrix and append its inverse at the
+                # end of the reverted _transforms list. After composing
+                # the transformations with get_matrix(), this correctly
+                # right-multiplies by the inverse of self._matrix
+                # at the end of the composition.
+                tinv._transforms = [t.inverse() for t in reversed(self._transforms)]
+                last = Transform3d(device=self.device)
+                last._matrix = i_matrix
+                tinv._transforms.append(last)
+            else:
+                # b) Or there are no stored transformations
+                # we just set inverted matrix
+                tinv._matrix = i_matrix
+
+        return tinv
+
+    def stack(self, *others):
+        transforms = [self] + list(others)
+        matrix = torch.cat([t._matrix for t in transforms], dim=0)
+        out = Transform3d()
+        out._matrix = matrix
+        return out
+
+    def transform_points(self, points, eps: Optional[float] = None):
+        """
+        Use this transform to transform a set of 3D points. Assumes row major
+        ordering of the input points.
+
+        Args:
+            points: Tensor of shape (P, 3) or (N, P, 3)
+            eps: If eps!=None, the argument is used to clamp the
+                last coordinate before peforming the final division.
+                The clamping corresponds to:
+                last_coord := (last_coord.sign() + (last_coord==0)) *
+                torch.clamp(last_coord.abs(), eps),
+                i.e. the last coordinates that are exactly 0 will
+                be clamped to +eps.
+
+        Returns:
+            points_out: points of shape (N, P, 3) or (P, 3) depending
+            on the dimensions of the transform
+        """
+        points_batch = points.clone()
+        if points_batch.dim() == 2:
+            points_batch = points_batch[None]  # (P, 3) -> (1, P, 3)
+        if points_batch.dim() != 3:
+            msg = "Expected points to have dim = 2 or dim = 3: got shape %r"
+            raise ValueError(msg % repr(points.shape))
+
+        N, P, _3 = points_batch.shape
+        ones = torch.ones(N, P, 1, dtype=points.dtype, device=points.device)
+        points_batch = torch.cat([points_batch, ones], dim=2)
+
+        composed_matrix = self.get_matrix().transpose(-1, -2)
+        points_out = _broadcast_bmm(points_batch, composed_matrix)
+        denom = points_out[..., 3:]  # denominator
+        if eps is not None:
+            denom_sign = denom.sign() + (denom == 0.0).type_as(denom)
+            denom = denom_sign * torch.clamp(denom.abs(), eps)
+        points_out = points_out[..., :3] / denom
+
+        # When transform is (1, 4, 4) and points is (P, 3) return
+        # points_out of shape (P, 3)
+        if points_out.shape[0] == 1 and points.dim() == 2:
+            points_out = points_out.reshape(points.shape)
+
+        return points_out
+
+    def transform_normals(self, normals):
+        """
+        Use this transform to transform a set of normal vectors.
+
+        Args:
+            normals: Tensor of shape (P, 3) or (N, P, 3)
+
+        Returns:
+            normals_out: Tensor of shape (P, 3) or (N, P, 3) depending
+            on the dimensions of the transform
+        """
+        if normals.dim() not in [2, 3]:
+            msg = "Expected normals to have dim = 2 or dim = 3: got shape %r"
+            raise ValueError(msg % (normals.shape,))
+        composed_matrix = self.get_matrix()
+
+        # TODO: inverse is bad! Solve a linear system instead
+        mat = composed_matrix[:, :3, :3]
+        normals_out = _broadcast_bmm(normals, mat.inverse())
+
+        # This doesn't pass unit tests. TODO investigate further
+        # if self._lu is None:
+        #     self._lu = self._matrix[:, :3, :3].transpose(1, 2).lu()
+        # normals_out = normals.lu_solve(*self._lu)
+
+        # When transform is (1, 4, 4) and normals is (P, 3) return
+        # normals_out of shape (P, 3)
+        if normals_out.shape[0] == 1 and normals.dim() == 2:
+            normals_out = normals_out.reshape(normals.shape)
+
+        return normals_out
+
+    def translate(self, *args, **kwargs):
+        return self.compose(Translate(device=self.device, *args, **kwargs))
+
+    def scale(self, *args, **kwargs):
+        return self.compose(Scale(device=self.device, *args, **kwargs))
+
+    def rotate(self, *args, **kwargs):
+        return self.compose(Rotate(device=self.device, *args, **kwargs))
+
+    def rotate_axis_angle(self, *args, **kwargs):
+        return self.compose(RotateAxisAngle(device=self.device, *args, **kwargs))
+
+    def clone(self):
+        """
+        Deep copy of Transforms object. All internal tensors are cloned
+        individually.
+
+        Returns:
+            new Transforms object.
+        """
+        other = Transform3d(dtype=self.dtype, device=self.device)
+        if self._lu is not None:
+            other._lu = [elem.clone() for elem in self._lu]
+        other._matrix = self._matrix.clone()
+        other._transforms = [t.clone() for t in self._transforms]
+        return other
+
+    def to(self, device, copy: bool = False, dtype=None):
+        """
+        Match functionality of torch.Tensor.to()
+        If copy = True or the self Tensor is on a different device, the
+        returned tensor is a copy of self with the desired torch.device.
+        If copy = False and the self Tensor already has the correct torch.device,
+        then self is returned.
+
+        Args:
+          device: Device id for the new tensor.
+          copy: Boolean indicator whether or not to clone self. Default False.
+          dtype: If not None, casts the internal tensor variables
+              to a given torch.dtype.
+
+        Returns:
+          Transform3d object.
+        """
+        if not copy and (dtype is None or self.dtype == dtype) and self.device == device:
+            return self
+        other = self.clone()
+        other.device = device
+        other.dtype = dtype if dtype is not None else other.dtype
+        other._matrix = self._matrix.to(device=device, dtype=dtype)
+        other._transforms = [t.to(device, copy=copy, dtype=dtype) for t in other._transforms]
+        return other
+
+    def cpu(self):
+        return self.to(torch.device("cpu"))
+
+    def cuda(self):
+        return self.to(torch.device("cuda"))
+
+
+class Translate(Transform3d):
+    def __init__(self, x, y=None, z=None, dtype=torch.float32, device: str = "cpu"):
+        """
+        Create a new Transform3d representing 3D translations.
+
+        Option I: Translate(xyz, dtype=torch.float32, device='cpu')
+            xyz should be a tensor of shape (N, 3)
+
+        Option II: Translate(x, y, z, dtype=torch.float32, device='cpu')
+            Here x, y, and z will be broadcast against each other and
+            concatenated to form the translation. Each can be:
+                - A python scalar
+                - A torch scalar
+                - A 1D torch tensor
+        """
+        super().__init__(device=device)
+        xyz = _handle_input(x, y, z, dtype, device, "Translate")
+        N = xyz.shape[0]
+
+        mat = torch.eye(4, dtype=dtype, device=device)
+        mat = mat.view(1, 4, 4).repeat(N, 1, 1)
+        mat[:, :3, 3] = xyz
+        self._matrix = mat
+
+    def _get_matrix_inverse(self):
+        """
+        Return the inverse of self._matrix.
+        """
+        inv_mask = self._matrix.new_ones([1, 4, 4])
+        inv_mask[0, :3, 3] = -1.0
+        i_matrix = self._matrix * inv_mask
+        return i_matrix
+
+
+class Scale(Transform3d):
+    def __init__(self, x, y=None, z=None, dtype=torch.float32, device: str = "cpu"):
+        """
+        A Transform3d representing a scaling operation, with different scale
+        factors along each coordinate axis.
+
+        Option I: Scale(s, dtype=torch.float32, device='cpu')
+            s can be one of
+                - Python scalar or torch scalar: Single uniform scale
+                - 1D torch tensor of shape (N,): A batch of uniform scale
+                - 2D torch tensor of shape (N, 3): Scale differently along each axis
+
+        Option II: Scale(x, y, z, dtype=torch.float32, device='cpu')
+            Each of x, y, and z can be one of
+                - python scalar
+                - torch scalar
+                - 1D torch tensor
+        """
+        super().__init__(device=device)
+        xyz = _handle_input(x, y, z, dtype, device, "scale", allow_singleton=True)
+        N = xyz.shape[0]
+
+        # TODO: Can we do this all in one go somehow?
+        mat = torch.eye(4, dtype=dtype, device=device)
+        mat = mat.view(1, 4, 4).repeat(N, 1, 1)
+        mat[:, 0, 0] = xyz[:, 0]
+        mat[:, 1, 1] = xyz[:, 1]
+        mat[:, 2, 2] = xyz[:, 2]
+        self._matrix = mat
+
+    def _get_matrix_inverse(self):
+        """
+        Return the inverse of self._matrix.
+        """
+        xyz = torch.stack([self._matrix[:, i, i] for i in range(4)], dim=1)
+        ixyz = 1.0 / xyz
+        imat = torch.diag_embed(ixyz, dim1=1, dim2=2)
+        return imat
+
+
+class Rotate(Transform3d):
+    def __init__(
+            self, R, dtype=torch.float32, device: str = "cpu", orthogonal_tol: float = 1e-5
+    ):
+        """
+        Create a new Transform3d representing 3D rotation using a rotation
+        matrix as the input.
+
+        Args:
+            R: a tensor of shape (3, 3) or (N, 3, 3)
+            orthogonal_tol: tolerance for the test of the orthogonality of R
+
+        """
+        super().__init__(device=device)
+        if not torch.is_tensor(R):
+            R = torch.tensor(R, dtype=dtype, device=device)
+        R = R.to(dtype=dtype).to(device=device)
+        if R.shape[-1] == 4:
+            R = quaternion_to_matrix(R)
+        elif R.shape[-1] == 3 and (len(R.shape) == 1 or R.shape[-2] != 3):
+            R = euler_angles_to_matrix(R, DEFAULT_EULER_CONVENTION)
+        else:
+            _check_valid_rotation_matrix(R, tol=orthogonal_tol)
+        if R.dim() == 2:
+            R = R[None]
+
+        if R.shape[-2:] != (3, 3):
+            msg = "R must have shape (3, 3) or (N, 3, 3); got %s"
+            raise ValueError(msg % repr(R.shape))
+        N = R.shape[0]
+        mat = torch.eye(4, dtype=dtype, device=device)
+        mat = mat.view(1, 4, 4).repeat(N, 1, 1)
+        mat[:, :3, :3] = R
+        self._matrix = mat
+
+    def _get_matrix_inverse(self):
+        """
+        Return the inverse of self._matrix.
+        """
+        return self._matrix.permute(0, 2, 1).contiguous()
+
+
+class RotateAxisAngle(Rotate):
+    def __init__(
+            self,
+            angle,
+            axis: str = "X",
+            degrees: bool = True,
+            dtype=torch.float64,
+            device: str = "cpu",
+    ):
+        """
+        Create a new Transform3d representing 3D rotation about an axis
+        by an angle.
+
+        Assuming a right-hand coordinate system, positive rotation angles result
+        in a counter clockwise rotation.
+
+        Args:
+            angle:
+                - A torch tensor of shape (N,)
+                - A python scalar
+                - A torch scalar
+            axis:
+                string: one of ["X", "Y", "Z"] indicating the axis about which
+                to rotate.
+                NOTE: All batch elements are rotated about the same axis.
+        """
+        axis = axis.upper()
+        if axis not in ["X", "Y", "Z"]:
+            msg = "Expected axis to be one of ['X', 'Y', 'Z']; got %s"
+            raise ValueError(msg % axis)
+        angle = _handle_angle_input(angle, dtype, device, "RotateAxisAngle")
+        angle = (angle / 180.0 * math.pi) if degrees else angle
+        # We assume the points on which this transformation will be applied
+        # are row vectors. The rotation matrix returned from _axis_angle_rotation
+        # is for transforming column vectors. Therefore we transpose this matrix.
+        # R will always be of shape (N, 3, 3)
+        R = _axis_angle_rotation(axis, angle)
+        super().__init__(device=device, R=R)
+
+
+def _handle_coord(c, dtype, device):
+    """
+    Helper function for _handle_input.
+
+    Args:
+        c: Python scalar, torch scalar, or 1D torch tensor
+
+    Returns:
+        c_vec: 1D torch tensor
+    """
+    if not torch.is_tensor(c):
+        c = torch.tensor(c, dtype=dtype, device=device)
+    if c.dim() == 0:
+        c = c.view(1)
+    return c
+
+
+def _handle_input(x, y, z, dtype, device, name: str, allow_singleton: bool = False):
+    """
+    Helper function to handle parsing logic for building transforms. The output
+    is always a tensor of shape (N, 3), but there are several types of allowed
+    input.
+
+    Case I: Single Matrix
+        In this case x is a tensor of shape (N, 3), and y and z are None. Here just
+        return x.
+
+    Case II: Vectors and Scalars
+        In this case each of x, y, and z can be one of the following
+            - Python scalar
+            - Torch scalar
+            - Torch tensor of shape (N, 1) or (1, 1)
+        In this case x, y and z are broadcast to tensors of shape (N, 1)
+        and concatenated to a tensor of shape (N, 3)
+
+    Case III: Singleton (only if allow_singleton=True)
+        In this case y and z are None, and x can be one of the following:
+            - Python scalar
+            - Torch scalar
+            - Torch tensor of shape (N, 1) or (1, 1)
+        Here x will be duplicated 3 times, and we return a tensor of shape (N, 3)
+
+    Returns:
+        xyz: Tensor of shape (N, 3)
+    """
+    # If x is actually a tensor of shape (N, 3) then just return it
+    if torch.is_tensor(x) and x.dim() == 2:
+        if x.shape[1] != 3:
+            msg = "Expected tensor of shape (N, 3); got %r (in %s)"
+            raise ValueError(msg % (x.shape, name))
+        if y is not None or z is not None:
+            msg = "Expected y and z to be None (in %s)" % name
+            raise ValueError(msg)
+        return x
+
+    if allow_singleton and y is None and z is None:
+        y = x
+        z = x
+
+    # Convert all to 1D tensors
+    xyz = [_handle_coord(c, dtype, device) for c in [x, y, z]]
+
+    # Broadcast and concatenate
+    sizes = [c.shape[0] for c in xyz]
+    N = max(sizes)
+    for c in xyz:
+        if c.shape[0] != 1 and c.shape[0] != N:
+            msg = "Got non-broadcastable sizes %r (in %s)" % (sizes, name)
+            raise ValueError(msg)
+    xyz = [c.expand(N) for c in xyz]
+    xyz = torch.stack(xyz, dim=1)
+    return xyz
+
+
+def _handle_angle_input(x, dtype, device: str, name: str):
+    """
+    Helper function for building a rotation function using angles.
+    The output is always of shape (N,).
+
+    The input can be one of:
+        - Torch tensor of shape (N,)
+        - Python scalar
+        - Torch scalar
+    """
+    if torch.is_tensor(x) and x.dim() > 1:
+        msg = "Expected tensor of shape (N,); got %r (in %s)"
+        raise ValueError(msg % (x.shape, name))
+    else:
+        return _handle_coord(x, dtype, device)
+
+
+def _broadcast_bmm(a, b):
+    """
+    Batch multiply two matrices and broadcast if necessary.
+
+    Args:
+        a: torch tensor of shape (P, K) or (M, P, K)
+        b: torch tensor of shape (N, K, K)
+
+    Returns:
+        a and b broadcast multipled. The output batch dimension is max(N, M).
+
+    To broadcast transforms across a batch dimension if M != N then
+    expect that either M = 1 or N = 1. The tensor with batch dimension 1 is
+    expanded to have shape N or M.
+    """
+    if a.dim() == 2:
+        a = a[None]
+    if len(a) != len(b):
+        if not ((len(a) == 1) or (len(b) == 1)):
+            msg = "Expected batch dim for bmm to be equal or 1; got %r, %r"
+            raise ValueError(msg % (a.shape, b.shape))
+        if len(a) == 1:
+            a = a.expand(len(b), -1, -1)
+        if len(b) == 1:
+            b = b.expand(len(a), -1, -1)
+    return a.bmm(b)
+
+
+def _check_valid_rotation_matrix(R, tol: float = 1e-7):
+    """
+    Determine if R is a valid rotation matrix by checking it satisfies the
+    following conditions:
+
+    ``RR^T = I and det(R) = 1``
+
+    Args:
+        R: an (N, 3, 3) matrix
+
+    Returns:
+        None
+
+    Emits a warning if R is an invalid rotation matrix.
+    """
+    N = R.shape[0]
+    eye = torch.eye(3, dtype=R.dtype, device=R.device)
+    eye = eye.view(1, 3, 3).expand(N, -1, -1)
+    orthogonal = torch.allclose(R.bmm(R.transpose(1, 2)), eye, atol=tol)
+    det_R = torch.det(R)
+    no_distortion = torch.allclose(det_R, torch.ones_like(det_R))
+    if not (orthogonal and no_distortion):
+        msg = "R is not a valid rotation matrix"
+        warnings.warn(msg)
+    return

humanoid/utils/kinematics/urdf.py

+from humanoid.utils.kinematics.urdf_parser_py.urdf import URDF, Mesh, Cylinder, Box, Sphere
+from humanoid.utils.kinematics import frame
+from humanoid.utils.kinematics import chain
+import torch
+import humanoid.utils.kinematics.transforms as tf
+# has better RPY to quaternion transformation
+import transformations as tf2
+
+JOINT_TYPE_MAP = {
+    "revolute": "revolute",
+    "continuous": "revolute",
+    "prismatic": "prismatic",
+    "fixed": "fixed"
+}
+
+
+def _convert_transform(origin):
+  if origin is None:
+    return tf.Transform3d()
+  else:
+    return tf.Transform3d(
+        rot=torch.tensor(
+            tf2.quaternion_from_euler(*origin.rpy, "sxyz"),
+            dtype=torch.float32),
+        pos=origin.xyz)
+
+
+def _convert_visual(visual):
+  if visual is None or visual.geometry is None:
+    return frame.Visual()
+  else:
+    v_tf = _convert_transform(visual.origin)
+    if isinstance(visual.geometry, Mesh):
+      g_type = "mesh"
+      g_param = visual.geometry.filename
+    elif isinstance(visual.geometry, Cylinder):
+      g_type = "cylinder"
+      g_param = (visual.geometry.radius, visual.geometry.length)
+    elif isinstance(visual.geometry, Box):
+      g_type = "box"
+      g_param = visual.geometry.size
+    elif isinstance(visual.geometry, Sphere):
+      g_type = "sphere"
+      g_param = visual.geometry.radius
+    else:
+      g_type = None
+      g_param = None
+    return frame.Visual(v_tf, g_type, g_param)
+
+
+def _build_chain_recurse(root_frame, lmap, joints):
+  children = []
+  for j in joints:
+    if j.parent == root_frame.link.name:
+      child_frame = frame.Frame(j.child + "_frame")
+      child_frame.joint = frame.Joint(
+          j.name,
+          offset=_convert_transform(j.origin),
+          joint_type=JOINT_TYPE_MAP[j.type],
+          axis=j.axis)
+      link = lmap[j.child]
+      child_frame.link = frame.Link(
+          link.name,
+          offset=_convert_transform(link.origin),
+          visuals=[_convert_visual(link.visual)])
+      child_frame.children = _build_chain_recurse(child_frame, lmap, joints)
+      children.append(child_frame)
+  return children
+
+
+def build_chain_from_urdf(data):
+  """
+    Build a Chain object from URDF data.
+
+    Parameters
+    ----------
+    data : str
+        URDF string data.
+
+    Returns
+    -------
+    chain.Chain
+        Chain object created from URDF.
+
+    Example
+    -------
+    >>> import pytorch_kinematics as pk
+    >>> data = '''<robot name="test_robot">
+    ... <link name="link1" />
+    ... <link name="link2" />
+    ... <joint name="joint1" type="revolute">
+    ...   <parent link="link1"/>
+    ...   <child link="link2"/>
+    ... </joint>
+    ... </robot>'''
+    >>> chain = pk.build_chain_from_urdf(data)
+    >>> print(chain)
+    link1_frame
+        link2_frame
+
+    """
+  robot = URDF.from_xml_string(data)
+  lmap = robot.link_map
+  joints = robot.joints
+  n_joints = len(joints)
+  has_root = [True for _ in range(len(joints))]
+  for i in range(n_joints):
+    for j in range(i + 1, n_joints):
+      if joints[i].parent == joints[j].child:
+        has_root[i] = False
+      elif joints[j].parent == joints[i].child:
+        has_root[j] = False
+  for i in range(n_joints):
+    if has_root[i]:
+      root_link = lmap[joints[i].parent]
+      break
+  root_frame = frame.Frame(root_link.name + "_frame")
+  root_frame.joint = frame.Joint()
+  root_frame.link = frame.Link(root_link.name,
+                               _convert_transform(root_link.origin),
+                               [_convert_visual(root_link.visual)])
+  root_frame.children = _build_chain_recurse(root_frame, lmap, joints)
+  return chain.Chain(root_frame)
+
+
+def build_serial_chain_from_urdf(data, end_link_name, root_link_name=""):
+  """
+    Build a SerialChain object from urdf data.
+
+    Parameters
+    ----------
+    data : str
+        URDF string data.
+    end_link_name : str
+        The name of the link that is the end effector.
+    root_link_name : str, optional
+        The name of the root link.
+
+    Returns
+    -------
+    chain.SerialChain
+        SerialChain object created from URDF.
+    """
+  urdf_chain = build_chain_from_urdf(data)
+  return chain.SerialChain(
+      urdf_chain, end_link_name + "_frame",
+      "" if root_link_name == "" else root_link_name + "_frame")

humanoid/utils/kinematics/urdf_parser_py/__init__.py

+from . import urdf

humanoid/utils/kinematics/urdf_parser_py/urdf.py

+from .xml_reflection.basics import *
+from . import xml_reflection as xmlr
+
+# Add a 'namespace' for names to avoid a conflict between URDF and SDF?
+# A type registry? How to scope that? Just make a 'global' type pointer?
+# Or just qualify names? urdf.geometric, sdf.geometric
+
+xmlr.start_namespace('urdf')
+
+xmlr.add_type('element_link', xmlr.SimpleElementType('link', str))
+xmlr.add_type('element_xyz', xmlr.SimpleElementType('xyz', 'vector3'))
+
+verbose = True
+
+
+class Pose(xmlr.Object):
+    def __init__(self, xyz=None, rpy=None):
+        self.xyz = xyz
+        self.rpy = rpy
+
+    def check_valid(self):
+        assert (self.xyz is None or len(self.xyz) == 3) and \
+               (self.rpy is None or len(self.rpy) == 3)
+
+    # Aliases for backwards compatibility
+    @property
+    def rotation(self): return self.rpy
+
+    @rotation.setter
+    def rotation(self, value): self.rpy = value
+
+    @property
+    def position(self): return self.xyz
+
+    @position.setter
+    def position(self, value): self.xyz = value
+
+
+xmlr.reflect(Pose, tag='origin', params=[
+    xmlr.Attribute('xyz', 'vector3', False, default=[0, 0, 0]),
+    xmlr.Attribute('rpy', 'vector3', False, default=[0, 0, 0])
+])
+
+# Common stuff
+name_attribute = xmlr.Attribute('name', str)
+origin_element = xmlr.Element('origin', Pose, False)
+
+
+class Color(xmlr.Object):
+    def __init__(self, *args):
+        # What about named colors?
+        count = len(args)
+        if count == 4 or count == 3:
+            self.rgba = args
+        elif count == 1:
+            self.rgba = args[0]
+        elif count == 0:
+            self.rgba = None
+        if self.rgba is not None:
+            if len(self.rgba) == 3:
+                self.rgba += [1.]
+            if len(self.rgba) != 4:
+                raise Exception('Invalid color argument count')
+
+
+xmlr.reflect(Color, tag='color', params=[
+    xmlr.Attribute('rgba', 'vector4')
+])
+
+
+class JointDynamics(xmlr.Object):
+    def __init__(self, damping=None, friction=None):
+        self.damping = damping
+        self.friction = friction
+
+
+xmlr.reflect(JointDynamics, tag='dynamics', params=[
+    xmlr.Attribute('damping', float, False),
+    xmlr.Attribute('friction', float, False)
+])
+
+
+class Box(xmlr.Object):
+    def __init__(self, size=None):
+        self.size = size
+
+
+xmlr.reflect(Box, tag='box', params=[
+    xmlr.Attribute('size', 'vector3')
+])
+
+
+class Cylinder(xmlr.Object):
+    def __init__(self, radius=0.0, length=0.0):
+        self.radius = radius
+        self.length = length
+
+
+xmlr.reflect(Cylinder, tag='cylinder', params=[
+    xmlr.Attribute('radius', float),
+    xmlr.Attribute('length', float)
+])
+
+
+class Sphere(xmlr.Object):
+    def __init__(self, radius=0.0):
+        self.radius = radius
+
+
+xmlr.reflect(Sphere, tag='sphere', params=[
+    xmlr.Attribute('radius', float)
+])
+
+
+class Mesh(xmlr.Object):
+    def __init__(self, filename=None, scale=None):
+        self.filename = filename
+        self.scale = scale
+
+
+xmlr.reflect(Mesh, tag='mesh', params=[
+    xmlr.Attribute('filename', str),
+    xmlr.Attribute('scale', 'vector3', required=False)
+])
+
+
+class GeometricType(xmlr.ValueType):
+    def __init__(self):
+        self.factory = xmlr.FactoryType('geometric', {
+            'box': Box,
+            'cylinder': Cylinder,
+            'sphere': Sphere,
+            'mesh': Mesh
+        })
+
+    def from_xml(self, node, path):
+        children = xml_children(node)
+        assert len(children) == 1, 'One element only for geometric'
+        return self.factory.from_xml(children[0], path=path)
+
+    def write_xml(self, node, obj):
+        name = self.factory.get_name(obj)
+        child = node_add(node, name)
+        obj.write_xml(child)
+
+
+xmlr.add_type('geometric', GeometricType())
+
+
+class Collision(xmlr.Object):
+    def __init__(self, geometry=None, origin=None):
+        self.geometry = geometry
+        self.origin = origin
+
+
+xmlr.reflect(Collision, tag='collision', params=[
+    origin_element,
+    xmlr.Element('geometry', 'geometric')
+])
+
+
+class Texture(xmlr.Object):
+    def __init__(self, filename=None):
+        self.filename = filename
+
+
+xmlr.reflect(Texture, tag='texture', params=[
+    xmlr.Attribute('filename', str)
+])
+
+
+class Material(xmlr.Object):
+    def __init__(self, name=None, color=None, texture=None):
+        self.name = name
+        self.color = color
+        self.texture = texture
+
+    def check_valid(self):
+        if self.color is None and self.texture is None:
+            xmlr.on_error("Material has neither a color nor texture.")
+
+
+xmlr.reflect(Material, tag='material', params=[
+    name_attribute,
+    xmlr.Element('color', Color, False),
+    xmlr.Element('texture', Texture, False)
+])
+
+
+class LinkMaterial(Material):
+    def check_valid(self):
+        pass
+
+
+class Visual(xmlr.Object):
+    def __init__(self, geometry=None, material=None, origin=None):
+        self.geometry = geometry
+        self.material = material
+        self.origin = origin
+
+
+xmlr.reflect(Visual, tag='visual', params=[
+    origin_element,
+    xmlr.Element('geometry', 'geometric'),
+    xmlr.Element('material', LinkMaterial, False)
+])
+
+
+class Inertia(xmlr.Object):
+    KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz']
+
+    def __init__(self, ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0):
+        self.ixx = ixx
+        self.ixy = ixy
+        self.ixz = ixz
+        self.iyy = iyy
+        self.iyz = iyz
+        self.izz = izz
+
+    def to_matrix(self):
+        return [
+            [self.ixx, self.ixy, self.ixz],
+            [self.ixy, self.iyy, self.iyz],
+            [self.ixz, self.iyz, self.izz]]
+
+
+xmlr.reflect(Inertia, tag='inertia',
+             params=[xmlr.Attribute(key, float) for key in Inertia.KEYS])
+
+
+class Inertial(xmlr.Object):
+    def __init__(self, mass=0.0, inertia=None, origin=None):
+        self.mass = mass
+        self.inertia = inertia
+        self.origin = origin
+
+
+xmlr.reflect(Inertial, tag='inertial', params=[
+    origin_element,
+    xmlr.Element('mass', 'element_value'),
+    xmlr.Element('inertia', Inertia, False)
+])
+
+
+# FIXME: we are missing the reference position here.
+class JointCalibration(xmlr.Object):
+    def __init__(self, rising=None, falling=None):
+        self.rising = rising
+        self.falling = falling
+
+
+xmlr.reflect(JointCalibration, tag='calibration', params=[
+    xmlr.Attribute('rising', float, False, 0),
+    xmlr.Attribute('falling', float, False, 0)
+])
+
+
+class JointLimit(xmlr.Object):
+    def __init__(self, effort=None, velocity=None, lower=None, upper=None):
+        self.effort = effort
+        self.velocity = velocity
+        self.lower = lower
+        self.upper = upper
+
+
+xmlr.reflect(JointLimit, tag='limit', params=[
+    xmlr.Attribute('effort', float),
+    xmlr.Attribute('lower', float, False, 0),
+    xmlr.Attribute('upper', float, False, 0),
+    xmlr.Attribute('velocity', float)
+])
+
+
+# FIXME: we are missing __str__ here.
+
+
+class JointMimic(xmlr.Object):
+    def __init__(self, joint_name=None, multiplier=None, offset=None):
+        self.joint = joint_name
+        self.multiplier = multiplier
+        self.offset = offset
+
+
+xmlr.reflect(JointMimic, tag='mimic', params=[
+    xmlr.Attribute('joint', str),
+    xmlr.Attribute('multiplier', float, False),
+    xmlr.Attribute('offset', float, False)
+])
+
+
+class SafetyController(xmlr.Object):
+    def __init__(self, velocity=None, position=None, lower=None, upper=None):
+        self.k_velocity = velocity
+        self.k_position = position
+        self.soft_lower_limit = lower
+        self.soft_upper_limit = upper
+
+
+xmlr.reflect(SafetyController, tag='safety_controller', params=[
+    xmlr.Attribute('k_velocity', float),
+    xmlr.Attribute('k_position', float, False, 0),
+    xmlr.Attribute('soft_lower_limit', float, False, 0),
+    xmlr.Attribute('soft_upper_limit', float, False, 0)
+])
+
+
+class Joint(xmlr.Object):
+    TYPES = ['unknown', 'revolute', 'continuous', 'prismatic',
+             'floating', 'planar', 'fixed']
+
+    def __init__(self, name=None, parent=None, child=None, joint_type=None,
+                 axis=None, origin=None,
+                 limit=None, dynamics=None, safety_controller=None,
+                 calibration=None, mimic=None):
+        self.name = name
+        self.parent = parent
+        self.child = child
+        self.type = joint_type
+        self.axis = axis
+        self.origin = origin
+        self.limit = limit
+        self.dynamics = dynamics
+        self.safety_controller = safety_controller
+        self.calibration = calibration
+        self.mimic = mimic
+
+    def check_valid(self):
+        assert self.type in self.TYPES, "Invalid joint type: {}".format(self.type)  # noqa
+
+    # Aliases
+    @property
+    def joint_type(self): return self.type
+
+    @joint_type.setter
+    def joint_type(self, value): self.type = value
+
+
+xmlr.reflect(Joint, tag='joint', params=[
+    name_attribute,
+    xmlr.Attribute('type', str),
+    origin_element,
+    xmlr.Element('axis', 'element_xyz', False),
+    xmlr.Element('parent', 'element_link'),
+    xmlr.Element('child', 'element_link'),
+    xmlr.Element('limit', JointLimit, False),
+    xmlr.Element('dynamics', JointDynamics, False),
+    xmlr.Element('safety_controller', SafetyController, False),
+    xmlr.Element('calibration', JointCalibration, False),
+    xmlr.Element('mimic', JointMimic, False),
+])
+
+
+class Link(xmlr.Object):
+    def __init__(self, name=None, visual=None, inertial=None, collision=None,
+                 origin=None):
+        self.aggregate_init()
+        self.name = name
+        self.visuals = []
+        self.inertial = inertial
+        self.collisions = []
+        self.origin = origin
+
+    def __get_visual(self):
+        """Return the first visual or None."""
+        if self.visuals:
+            return self.visuals[0]
+
+    def __set_visual(self, visual):
+        """Set the first visual."""
+        if self.visuals:
+            self.visuals[0] = visual
+        else:
+            self.visuals.append(visual)
+
+    def __get_collision(self):
+        """Return the first collision or None."""
+        if self.collisions:
+            return self.collisions[0]
+
+    def __set_collision(self, collision):
+        """Set the first collision."""
+        if self.collisions:
+            self.collisions[0] = collision
+        else:
+            self.collisions.append(collision)
+
+    # Properties for backwards compatibility
+    visual = property(__get_visual, __set_visual)
+    collision = property(__get_collision, __set_collision)
+
+
+xmlr.reflect(Link, tag='link', params=[
+    name_attribute,
+    origin_element,
+    xmlr.AggregateElement('visual', Visual),
+    xmlr.AggregateElement('collision', Collision),
+    xmlr.Element('inertial', Inertial, False),
+])
+
+
+class PR2Transmission(xmlr.Object):
+    def __init__(self, name=None, joint=None, actuator=None, type=None,
+                 mechanicalReduction=1):
+        self.name = name
+        self.type = type
+        self.joint = joint
+        self.actuator = actuator
+        self.mechanicalReduction = mechanicalReduction
+
+
+xmlr.reflect(PR2Transmission, tag='pr2_transmission', params=[
+    name_attribute,
+    xmlr.Attribute('type', str),
+    xmlr.Element('joint', 'element_name'),
+    xmlr.Element('actuator', 'element_name'),
+    xmlr.Element('mechanicalReduction', float)
+])
+
+
+class Actuator(xmlr.Object):
+    def __init__(self, name=None, mechanicalReduction=1):
+        self.name = name
+        self.mechanicalReduction = None
+
+
+xmlr.reflect(Actuator, tag='actuator', params=[
+    name_attribute,
+    xmlr.Element('mechanicalReduction', float, required=False)
+])
+
+
+class TransmissionJoint(xmlr.Object):
+    def __init__(self, name=None):
+        self.aggregate_init()
+        self.name = name
+        self.hardwareInterfaces = []
+
+    def check_valid(self):
+        assert len(self.hardwareInterfaces) > 0, "no hardwareInterface defined"
+
+
+xmlr.reflect(TransmissionJoint, tag='joint', params=[
+    name_attribute,
+    xmlr.AggregateElement('hardwareInterface', str),
+])
+
+
+class Transmission(xmlr.Object):
+    """ New format: http://wiki.ros.org/urdf/XML/Transmission """
+
+    def __init__(self, name=None):
+        self.aggregate_init()
+        self.name = name
+        self.joints = []
+        self.actuators = []
+
+    def check_valid(self):
+        assert len(self.joints) > 0, "no joint defined"
+        assert len(self.actuators) > 0, "no actuator defined"
+
+
+xmlr.reflect(Transmission, tag='new_transmission', params=[
+    name_attribute,
+    xmlr.Element('type', str),
+    xmlr.AggregateElement('joint', TransmissionJoint),
+    xmlr.AggregateElement('actuator', Actuator)
+])
+
+xmlr.add_type('transmission',
+              xmlr.DuckTypedFactory('transmission',
+                                    [Transmission, PR2Transmission]))
+
+
+class Robot(xmlr.Object):
+    def __init__(self, name=None):
+        self.aggregate_init()
+
+        self.name = name
+        self.joints = []
+        self.links = []
+        self.materials = []
+        self.gazebos = []
+        self.transmissions = []
+
+        self.joint_map = {}
+        self.link_map = {}
+
+        self.parent_map = {}
+        self.child_map = {}
+
+    def add_aggregate(self, typeName, elem):
+        xmlr.Object.add_aggregate(self, typeName, elem)
+
+        if typeName == 'joint':
+            joint = elem
+            self.joint_map[joint.name] = joint
+            self.parent_map[joint.child] = (joint.name, joint.parent)
+            if joint.parent in self.child_map:
+                self.child_map[joint.parent].append((joint.name, joint.child))
+            else:
+                self.child_map[joint.parent] = [(joint.name, joint.child)]
+        elif typeName == 'link':
+            link = elem
+            self.link_map[link.name] = link
+
+    def add_link(self, link):
+        self.add_aggregate('link', link)
+
+    def add_joint(self, joint):
+        self.add_aggregate('joint', joint)
+
+    def get_chain(self, root, tip, joints=True, links=True, fixed=True):
+        chain = []
+        if links:
+            chain.append(tip)
+        link = tip
+        while link != root:
+            (joint, parent) = self.parent_map[link]
+            if joints:
+                if fixed or self.joint_map[joint].joint_type != 'fixed':
+                    chain.append(joint)
+            if links:
+                chain.append(parent)
+            link = parent
+        chain.reverse()
+        return chain
+
+    def get_root(self):
+        root = None
+        for link in self.link_map:
+            if link not in self.parent_map:
+                assert root is None, "Multiple roots detected, invalid URDF."
+                root = link
+        assert root is not None, "No roots detected, invalid URDF."
+        return root
+
+    @classmethod
+    def from_parameter_server(cls, key='robot_description'):
+        """
+        Retrieve the robot model on the parameter server
+        and parse it to create a URDF robot structure.
+
+        Warning: this requires roscore to be running.
+        """
+        # Could move this into xml_reflection
+        import rospy
+        return cls.from_xml_string(rospy.get_param(key))
+
+
+xmlr.reflect(Robot, tag='robot', params=[
+    xmlr.Attribute('name', str, False),  # Is 'name' a required attribute?
+    xmlr.AggregateElement('link', Link),
+    xmlr.AggregateElement('joint', Joint),
+    xmlr.AggregateElement('gazebo', xmlr.RawType()),
+    xmlr.AggregateElement('transmission', 'transmission'),
+    xmlr.AggregateElement('material', Material)
+])
+
+# Make an alias
+URDF = Robot
+
+xmlr.end_namespace()

humanoid/utils/kinematics/urdf_parser_py/xml_reflection/__init__.py

+from .core import *

humanoid/utils/kinematics/urdf_parser_py/xml_reflection/basics.py

+import string
+import yaml
+import collections
+from lxml import etree
+
+
+def xml_string(rootXml, addHeader=True):
+  # Meh
+  xmlString = etree.tostring(rootXml, pretty_print=True, encoding='unicode')
+  if addHeader:
+    xmlString = '<?xml version="1.0"?>\n' + xmlString
+  return xmlString
+
+
+def dict_sub(obj, keys):
+  return dict((key, obj[key]) for key in keys)
+
+
+def node_add(doc, sub):
+  if sub is None:
+    return None
+  if type(sub) == str:
+    return etree.SubElement(doc, sub)
+  elif isinstance(sub, etree._Element):
+    doc.append(sub)  # This screws up the rest of the tree for prettyprint
+    return sub
+  else:
+    raise Exception('Invalid sub value')
+
+
+def pfloat(x):
+  return str(x).rstrip('.')
+
+
+def xml_children(node):
+  children = node.getchildren()
+
+  def predicate(node):
+    return not isinstance(node, etree._Comment)
+
+  return list(filter(predicate, children))
+
+
+def isstring(obj):
+  try:
+    return isinstance(obj, basestring)
+  except NameError:
+    return isinstance(obj, str)
+
+
+def to_yaml(obj):
+  """ Simplify yaml representation for pretty printing """
+  # Is there a better way to do this by adding a representation with
+  # yaml.Dumper?
+  # Ordered dict: http://pyyaml.org/ticket/29#comment:11
+  if obj is None or isstring(obj):
+    out = str(obj)
+  elif type(obj) in [int, float, bool]:
+    return obj
+  elif hasattr(obj, 'to_yaml'):
+    out = obj.to_yaml()
+  elif isinstance(obj, etree._Element):
+    out = etree.tostring(obj, pretty_print=True)
+  elif type(obj) == dict:
+    out = {}
+    for (var, value) in obj.items():
+      out[str(var)] = to_yaml(value)
+  elif hasattr(obj, 'tolist'):
+    # For numpy objects
+    out = to_yaml(obj.tolist())
+  elif isinstance(obj, collections.Iterable):
+    out = [to_yaml(item) for item in obj]
+  else:
+    out = str(obj)
+  return out
+
+
+class SelectiveReflection(object):
+
+  def get_refl_vars(self):
+    return list(vars(self).keys())
+
+
+class YamlReflection(SelectiveReflection):
+
+  def to_yaml(self):
+    raw = dict((var, getattr(self, var)) for var in self.get_refl_vars())
+    return to_yaml(raw)
+
+  def __str__(self):
+    # Good idea? Will it remove other important things?
+    return yaml.dump(self.to_yaml()).rstrip()

humanoid/utils/kinematics/urdf_parser_py/xml_reflection/core.py

+from .basics import *
+import sys
+import copy
+
+# @todo Get rid of "import *"
+# @todo Make this work with decorators
+
+# Is this reflection or serialization? I think it's serialization...
+# Rename?
+
+# Do parent operations after, to allow child to 'override' parameters?
+# Need to make sure that duplicate entires do not get into the 'unset*' lists
+
+
+def reflect(cls, *args, **kwargs):
+  """
+    Simple wrapper to add XML reflection to an xml_reflection.Object class
+    """
+  cls.XML_REFL = Reflection(*args, **kwargs)
+
+
+# Rename 'write_xml' to 'write_xml' to have paired 'load/dump', and make
+# 'pre_dump' and 'post_load'?
+# When dumping to yaml, include tag name?
+
+
+# How to incorporate line number and all that jazz?
+def on_error_stderr(message):
+  """ What to do on an error. This can be changed to raise an exception. """
+  sys.stderr.write(message + '\n')
+
+
+on_error = on_error_stderr
+
+skip_default = False
+# defaultIfMatching = True # Not implemeneted yet
+
+# Registering Types
+value_types = {}
+value_type_prefix = ''
+
+
+def start_namespace(namespace):
+  """
+    Basic mechanism to prevent conflicts for string types for URDF and SDF
+    @note Does not handle nesting!
+    """
+  global value_type_prefix
+  value_type_prefix = namespace + '.'
+
+
+def end_namespace():
+  global value_type_prefix
+  value_type_prefix = ''
+
+
+def add_type(key, value):
+  if isinstance(key, str):
+    key = value_type_prefix + key
+  assert key not in value_types
+  value_types[key] = value
+
+
+def get_type(cur_type):
+  """ Can wrap value types if needed """
+  if value_type_prefix and isinstance(cur_type, str):
+    # See if it exists in current 'namespace'
+    curKey = value_type_prefix + cur_type
+    value_type = value_types.get(curKey)
+  else:
+    value_type = None
+  if value_type is None:
+    # Try again, in 'global' scope
+    value_type = value_types.get(cur_type)
+  if value_type is None:
+    value_type = make_type(cur_type)
+    add_type(cur_type, value_type)
+  return value_type
+
+
+def make_type(cur_type):
+  if isinstance(cur_type, ValueType):
+    return cur_type
+  elif isinstance(cur_type, str):
+    if cur_type.startswith('vector'):
+      extra = cur_type[6:]
+      if extra:
+        count = float(extra)
+      else:
+        count = None
+      return VectorType(count)
+    else:
+      raise Exception('Invalid value type: {}'.format(cur_type))
+  elif cur_type == list:
+    return ListType()
+  elif issubclass(cur_type, Object):
+    return ObjectType(cur_type)
+  elif cur_type in [str, float, bool]:
+    return BasicType(cur_type)
+  else:
+    raise Exception('Invalid type: {}'.format(cur_type))
+
+
+class Path(object):
+
+  def __init__(self, tag, parent=None, suffix='', tree=None):
+    self.parent = parent
+    self.tag = tag
+    self.suffix = suffix
+    self.tree = tree  # For validating general path (getting true XML path)
+
+  def __str__(self):
+    if self.parent is not None:
+      return '{}/{}{}'.format(self.parent, self.tag, self.suffix)
+    else:
+      if self.tag is not None and len(self.tag) > 0:
+        return '/{}{}'.format(self.tag, self.suffix)
+      else:
+        return self.suffix
+
+
+class ParseError(Exception):
+
+  def __init__(self, e, path):
+    self.e = e
+    self.path = path
+    message = 'ParseError in {}:\n{}'.format(self.path, self.e)
+    super(ParseError, self).__init__(message)
+
+
+class ValueType(object):
+  """ Primitive value type """
+
+  def from_xml(self, node, path):
+    return self.from_string(node.text)
+
+  def write_xml(self, node, value):
+    """
+        If type has 'write_xml', this function should expect to have it's own
+        XML already created i.e., In Axis.to_sdf(self, node), 'node' would be
+        the 'axis' element.
+        @todo Add function that makes an XML node completely independently?
+        """
+    node.text = self.to_string(value)
+
+  def equals(self, a, b):
+    return a == b
+
+
+class BasicType(ValueType):
+
+  def __init__(self, cur_type):
+    self.type = cur_type
+
+  def to_string(self, value):
+    return str(value)
+
+  def from_string(self, value):
+    return self.type(value)
+
+
+class ListType(ValueType):
+
+  def to_string(self, values):
+    return ' '.join(values)
+
+  def from_string(self, text):
+    return text.split()
+
+  def equals(self, aValues, bValues):
+    return len(aValues) == len(bValues) and all(
+        a == b for (a, b) in zip(aValues, bValues))  # noqa
+
+
+class VectorType(ListType):
+
+  def __init__(self, count=None):
+    self.count = count
+
+  def check(self, values):
+    if self.count is not None:
+      assert len(values) == self.count, 'Invalid vector length'
+
+  def to_string(self, values):
+    self.check(values)
+    raw = list(map(str, values))
+    return ListType.to_string(self, raw)
+
+  def from_string(self, text):
+    raw = ListType.from_string(self, text)
+    self.check(raw)
+    return list(map(float, raw))
+
+
+class RawType(ValueType):
+  """
+    Simple, raw XML value. Need to bugfix putting this back into a document
+    """
+
+  def from_xml(self, node, path):
+    return node
+
+  def write_xml(self, node, value):
+    # @todo rying to insert an element at root level seems to screw up
+    # pretty printing
+    children = xml_children(value)
+    list(map(node.append, children))
+    # Copy attributes
+    for (attrib_key, attrib_value) in value.attrib.items():
+      node.set(attrib_key, attrib_value)
+
+
+class SimpleElementType(ValueType):
+  """
+    Extractor that retrieves data from an element, given a
+    specified attribute, casted to value_type.
+    """
+
+  def __init__(self, attribute, value_type):
+    self.attribute = attribute
+    self.value_type = get_type(value_type)
+
+  def from_xml(self, node, path):
+    text = node.get(self.attribute)
+    return self.value_type.from_string(text)
+
+  def write_xml(self, node, value):
+    text = self.value_type.to_string(value)
+    node.set(self.attribute, text)
+
+
+class ObjectType(ValueType):
+
+  def __init__(self, cur_type):
+    self.type = cur_type
+
+  def from_xml(self, node, path):
+    obj = self.type()
+    obj.read_xml(node, path)
+    return obj
+
+  def write_xml(self, node, obj):
+    obj.write_xml(node)
+
+
+class FactoryType(ValueType):
+
+  def __init__(self, name, typeMap):
+    self.name = name
+    self.typeMap = typeMap
+    self.nameMap = {}
+    for (key, value) in typeMap.items():
+      # Reverse lookup
+      self.nameMap[value] = key
+
+  def from_xml(self, node, path):
+    cur_type = self.typeMap.get(node.tag)
+    if cur_type is None:
+      raise Exception('Invalid {} tag: {}'.format(self.name, node.tag))
+    value_type = get_type(cur_type)
+    return value_type.from_xml(node, path)
+
+  def get_name(self, obj):
+    cur_type = type(obj)
+    name = self.nameMap.get(cur_type)
+    if name is None:
+      raise Exception('Invalid {} type: {}'.format(self.name, cur_type))
+    return name
+
+  def write_xml(self, node, obj):
+    obj.write_xml(node)
+
+
+class DuckTypedFactory(ValueType):
+
+  def __init__(self, name, typeOrder):
+    self.name = name
+    assert len(typeOrder) > 0
+    self.type_order = typeOrder
+
+  def from_xml(self, node, path):
+    error_set = []
+    for value_type in self.type_order:
+      try:
+        return value_type.from_xml(node, path)
+      except Exception as e:
+        error_set.append((value_type, e))
+    # Should have returned, we encountered errors
+    out = 'Could not perform duck-typed parsing.'
+    for (value_type, e) in error_set:
+      out += '\nValue Type: {}\nException: {}\n'.format(value_type, e)
+      raise ParseError(Exception(out), path)
+
+  def write_xml(self, node, obj):
+    obj.write_xml(node)
+
+
+class Param(object):
+  """ Mirroring Gazebo's SDF api
+
+    @param xml_var: Xml name
+            @todo If the value_type is an object with a tag defined in it's
+                  reflection, allow it to act as the default tag name?
+    @param var: Python class variable name. By default it's the same as the
+                XML name
+    """
+
+  def __init__(self,
+               xml_var,
+               value_type,
+               required=True,
+               default=None,
+               var=None):
+    self.xml_var = xml_var
+    if var is None:
+      self.var = xml_var
+    else:
+      self.var = var
+    self.type = None
+    self.value_type = get_type(value_type)
+    self.default = default
+    if required:
+      assert default is None, 'Default does not make sense for a required field'  # noqa
+    self.required = required
+    self.is_aggregate = False
+
+  def set_default(self, obj):
+    if self.required:
+      raise Exception('Required {} not set in XML: {}'.format(
+          self.type, self.xml_var))  # noqa
+    elif not skip_default:
+      setattr(obj, self.var, self.default)
+
+
+class Attribute(Param):
+
+  def __init__(self,
+               xml_var,
+               value_type,
+               required=True,
+               default=None,
+               var=None):
+    Param.__init__(self, xml_var, value_type, required, default, var)
+    self.type = 'attribute'
+
+  def set_from_string(self, obj, value):
+    """ Node is the parent node in this case """
+    # Duplicate attributes cannot occur at this point
+    setattr(obj, self.var, self.value_type.from_string(value))
+
+  def get_value(self, obj):
+    return getattr(obj, self.var)
+
+  def add_to_xml(self, obj, node):
+    value = getattr(obj, self.var)
+    # Do not set with default value if value is None
+    if value is None:
+      if self.required:
+        raise Exception('Required attribute not set in object: {}'.format(
+            self.var))  # noqa
+      elif not skip_default:
+        value = self.default
+    # Allow value type to handle None?
+    if value is not None:
+      node.set(self.xml_var, self.value_type.to_string(value))
+
+
+# Add option if this requires a header?
+# Like <joints> <joint/> .... </joints> ???
+# Not really... This would be a specific list type, not really aggregate
+
+
+class Element(Param):
+
+  def __init__(self,
+               xml_var,
+               value_type,
+               required=True,
+               default=None,
+               var=None,
+               is_raw=False):
+    Param.__init__(self, xml_var, value_type, required, default, var)
+    self.type = 'element'
+    self.is_raw = is_raw
+
+  def set_from_xml(self, obj, node, path):
+    value = self.value_type.from_xml(node, path)
+    setattr(obj, self.var, value)
+
+  def add_to_xml(self, obj, parent):
+    value = getattr(obj, self.xml_var)
+    if value is None:
+      if self.required:
+        raise Exception('Required element not defined in object: {}'.format(
+            self.var))  # noqa
+      elif not skip_default:
+        value = self.default
+    if value is not None:
+      self.add_scalar_to_xml(parent, value)
+
+  def add_scalar_to_xml(self, parent, value):
+    if self.is_raw:
+      node = parent
+    else:
+      node = node_add(parent, self.xml_var)
+    self.value_type.write_xml(node, value)
+
+
+class AggregateElement(Element):
+
+  def __init__(self, xml_var, value_type, var=None, is_raw=False):
+    if var is None:
+      var = xml_var + 's'
+    Element.__init__(
+        self, xml_var, value_type, required=False, var=var, is_raw=is_raw)
+    self.is_aggregate = True
+
+  def add_from_xml(self, obj, node, path):
+    value = self.value_type.from_xml(node, path)
+    obj.add_aggregate(self.xml_var, value)
+
+  def set_default(self, obj):
+    pass
+
+
+class Info:
+  """ Small container for keeping track of what's been consumed """
+
+  def __init__(self, node):
+    self.attributes = list(node.attrib.keys())
+    self.children = xml_children(node)
+
+
+class Reflection(object):
+
+  def __init__(self, params=[], parent_cls=None, tag=None):
+    """ Construct a XML reflection thing
+
+        @param parent_cls: Parent class, to use it's reflection as well.
+        @param tag: Only necessary if you intend to use Object.write_xml_doc()
+                This does not override the name supplied in the reflection
+                definition thing.
+        """
+    if parent_cls is not None:
+      self.parent = parent_cls.XML_REFL
+    else:
+      self.parent = None
+    self.tag = tag
+
+    # Laziness for now
+    attributes = []
+    elements = []
+    for param in params:
+      if isinstance(param, Element):
+        elements.append(param)
+      else:
+        attributes.append(param)
+
+    self.vars = []
+    self.paramMap = {}
+
+    self.attributes = attributes
+    self.attribute_map = {}
+    self.required_attribute_names = []
+    for attribute in attributes:
+      self.attribute_map[attribute.xml_var] = attribute
+      self.paramMap[attribute.xml_var] = attribute
+      self.vars.append(attribute.var)
+      if attribute.required:
+        self.required_attribute_names.append(attribute.xml_var)
+
+    self.elements = []
+    self.element_map = {}
+    self.required_element_names = []
+    self.aggregates = []
+    self.scalars = []
+    self.scalarNames = []
+    for element in elements:
+      self.element_map[element.xml_var] = element
+      self.paramMap[element.xml_var] = element
+      self.vars.append(element.var)
+      if element.required:
+        self.required_element_names.append(element.xml_var)
+      if element.is_aggregate:
+        self.aggregates.append(element)
+      else:
+        self.scalars.append(element)
+        self.scalarNames.append(element.xml_var)
+
+  def set_from_xml(self, obj, node, path, info=None):
+    is_final = False
+    if info is None:
+      is_final = True
+      info = Info(node)
+
+    if self.parent:
+      path = self.parent.set_from_xml(obj, node, path, info)
+
+    # Make this a map instead? Faster access? {name: isSet} ?
+    unset_attributes = list(self.attribute_map.keys())
+    unset_scalars = copy.copy(self.scalarNames)
+
+    def get_attr_path(attribute):
+      attr_path = copy.copy(path)
+      attr_path.suffix += '[@{}]'.format(attribute.xml_var)
+      return attr_path
+
+    def get_element_path(element):
+      element_path = Path(element.xml_var, parent=path)
+      # Add an index (allow this to be overriden)
+      if element.is_aggregate:
+        values = obj.get_aggregate_list(element.xml_var)
+        index = 1 + len(values)  # 1-based indexing for W3C XPath
+        element_path.suffix = '[{}]'.format(index)
+      return element_path
+
+    id_var = 'name'
+    # Better method? Queues?
+    for xml_var in copy.copy(info.attributes):
+      attribute = self.attribute_map.get(xml_var)
+      if attribute is not None:
+        value = node.attrib[xml_var]
+        attr_path = get_attr_path(attribute)
+        try:
+          attribute.set_from_string(obj, value)
+          if attribute.xml_var == id_var:
+            # Add id_var suffix to current path (do not copy so it propagates)
+            path.suffix = "[@{}='{}']".format(id_var, attribute.get_value(obj))
+        except ParseError:
+          raise
+        except Exception as e:
+          raise ParseError(e, attr_path)
+        unset_attributes.remove(xml_var)
+        info.attributes.remove(xml_var)
+
+    # Parse unconsumed nodes
+    for child in copy.copy(info.children):
+      tag = child.tag
+      element = self.element_map.get(tag)
+      if element is not None:
+        # Name will have been set
+        element_path = get_element_path(element)
+        if element.is_aggregate:
+          element.add_from_xml(obj, child, element_path)
+        else:
+          if tag in unset_scalars:
+            element.set_from_xml(obj, child, element_path)
+            unset_scalars.remove(tag)
+          else:
+            on_error(
+                'Scalar element defined multiple times: {}'.format(tag))  # noqa
+        info.children.remove(child)
+
+    # For unset attributes and scalar elements, we should not pass the attribute
+    # or element path, as those paths will implicitly not exist.
+    # If we do supply it, then the user would need to manually prune the XPath to try
+    # and find where the problematic parent element.
+    for attribute in map(self.attribute_map.get, unset_attributes):
+      try:
+        attribute.set_default(obj)
+      except ParseError:
+        raise
+      except Exception as e:
+        raise ParseError(e, path)  # get_attr_path(attribute.xml_var)
+
+    for element in map(self.element_map.get, unset_scalars):
+      try:
+        element.set_default(obj)
+      except ParseError:
+        raise
+      except Exception as e:
+        raise ParseError(e, path)  # get_element_path(element)
+
+    if is_final:
+      for xml_var in info.attributes:
+        on_error('Unknown attribute "{}" in {}'.format(xml_var, path))
+      for node in info.children:
+        on_error('Unknown tag "{}" in {}'.format(node.tag, path))
+    # Allow children parsers to adopt this current path (if modified with id_var)
+    return path
+
+  def add_to_xml(self, obj, node):
+    if self.parent:
+      self.parent.add_to_xml(obj, node)
+    for attribute in self.attributes:
+      attribute.add_to_xml(obj, node)
+    for element in self.scalars:
+      element.add_to_xml(obj, node)
+    # Now add in aggregates
+    if self.aggregates:
+      obj.add_aggregates_to_xml(node)
+
+
+class Object(YamlReflection):
+  """ Raw python object for yaml / xml representation """
+  XML_REFL = None
+
+  def get_refl_vars(self):
+    return self.XML_REFL.vars
+
+  def check_valid(self):
+    pass
+
+  def pre_write_xml(self):
+    """ If anything needs to be converted prior to dumping to xml
+
+        i.e., getting the names of objects and such
+    """
+    pass
+
+  def write_xml(self, node):
+    """ Adds contents directly to XML node """
+    self.check_valid()
+    self.pre_write_xml()
+    self.XML_REFL.add_to_xml(self, node)
+
+  def to_xml(self):
+    """ Creates an overarching tag and adds its contents to the node """
+    tag = self.XML_REFL.tag
+    assert tag is not None, ("Must define 'tag' in reflection to use this "
+                             "function")  # noqa
+    doc = etree.Element(tag)
+    self.write_xml(doc)
+    return doc
+
+  def to_xml_string(self, addHeader=True):
+    return xml_string(self.to_xml(), addHeader)
+
+  def post_read_xml(self):
+    pass
+
+  def read_xml(self, node, path):
+    self.XML_REFL.set_from_xml(self, node, path)
+    self.post_read_xml()
+    try:
+      self.check_valid()
+    except ParseError:
+      raise
+    except Exception as e:
+      raise ParseError(e, path)
+
+  @classmethod
+  def from_xml(cls, node, path):
+    cur_type = get_type(cls)
+    return cur_type.from_xml(node, path)
+
+  @classmethod
+  def from_xml_string(cls, xml_string):
+    node = etree.fromstring(xml_string)
+    path = Path(cls.XML_REFL.tag, tree=etree.ElementTree(node))
+    return cls.from_xml(node, path)
+
+  @classmethod
+  def from_xml_file(cls, file_path):
+    xml_string = open(file_path, 'r').read()
+    return cls.from_xml_string(xml_string)
+
+  # Confusing distinction between loading code in object and reflection
+  # registry thing...
+
+  def get_aggregate_list(self, xml_var):
+    var = self.XML_REFL.paramMap[xml_var].var
+    values = getattr(self, var)
+    assert isinstance(values, list)
+    return values
+
+  def aggregate_init(self):
+    """ Must be called in constructor! """
+    self.aggregate_order = []
+    # Store this info in the loaded object??? Nah
+    self.aggregate_type = {}
+
+  def add_aggregate(self, xml_var, obj):
+    """ NOTE: One must keep careful track of aggregate types for this system.
+
+        Can use 'lump_aggregates()' before writing if you don't care.
+    """
+    self.get_aggregate_list(xml_var).append(obj)
+    self.aggregate_order.append(obj)
+    self.aggregate_type[obj] = xml_var
+
+  def add_aggregates_to_xml(self, node):
+    for value in self.aggregate_order:
+      typeName = self.aggregate_type[value]
+      element = self.XML_REFL.element_map[typeName]
+      element.add_scalar_to_xml(node, value)
+
+  def remove_aggregate(self, obj):
+    self.aggregate_order.remove(obj)
+    xml_var = self.aggregate_type[obj]
+    del self.aggregate_type[obj]
+    self.get_aggregate_list(xml_var).remove(obj)
+
+  def lump_aggregates(self):
+    """ Put all aggregate types together, just because """
+    self.aggregate_init()
+    for param in self.XML_REFL.aggregates:
+      for obj in self.get_aggregate_list(param.xml_var):
+        self.add_aggregate(param.var, obj)
+
+  """ Compatibility """
+
+  def parse(self, xml_string):
+    node = etree.fromstring(xml_string)
+    path = Path(self.XML_REFL.tag, tree=etree.ElementTree(node))
+    self.read_xml(node, path)
+    return self
+
+
+# Really common types
+# Better name: element_with_name? Attributed element?
+add_type('element_name', SimpleElementType('name', str))
+add_type('element_value', SimpleElementType('value', float))
+
+# Add in common vector types so they aren't absorbed into the namespaces
+get_type('vector3')
+get_type('vector4')
+get_type('vector6')

resources/robots/elf2/urdf/elf2_dof12 copy.urdf

+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="elf2">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00030047 8.28e-06 0.03546793"
+        rpy="0 0 0" />
+      <mass
+        value="3.24038695" />
+      <inertia
+        ixx="0.02280423"
+        ixy="3.8e-07"
+        ixz="-1.083e-05"
+        iyy="0.00335281"
+        iyz="1.75e-06"
+        izz="0.02410611" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="l_hip_z_link">
+    <inertial>
+      <origin
+        xyz="-0.0951743 -0.00029544 0.01157699"
+        rpy="0 0 0" />
+      <mass
+        value="1.26002534" />
+      <inertia
+        ixx="0.00250858"
+        ixy="-1.87e-05"
+        ixz="-0.00093719"
+        iyy="0.00299504"
+        iyz="6.14e-06"
+        izz="0.00188897" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_hip_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 0.1 -0.1008"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="l_hip_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="20"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_hip_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00349545 -0.05016077 0.00015601"
+        rpy="0 0 0" />
+      <mass
+        value="1.75826055" />
+      <inertia
+        ixx="0.00145734"
+        ixy="0.000276"
+        ixz="2.571e-05"
+        iyy="0.00183603"
+        iyz="-4e-08"
+        izz="0.00181117" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_hip_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_z_link" />
+    <child
+      link="l_hip_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.523"
+      upper="0.785"
+      effort="40"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_hip_y_link">
+    <inertial>
+      <origin
+        xyz="0.00237237 0.02408075 -0.04874487"
+        rpy="0 0 0" />
+      <mass
+        value="2.66296335" />
+      <inertia
+        ixx="0.02678784"
+        ixy="0.00016594"
+        ixz="0.00075939"
+        iyy="0.02619934"
+        iyz="-0.00371457"
+        izz="0.0045187" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_hip_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_hip_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_x_link" />
+    <child
+      link="l_hip_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="1"
+      effort="100"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_knee_y_link">
+    <inertial>
+      <origin
+        xyz="0.00711393 -0.00031499 -0.10977806"
+        rpy="0 0 0" />
+      <mass
+        value="1.63072153" />
+      <inertia
+        ixx="0.01042782"
+        ixy="1.62e-06"
+        ixz="-0.00054999"
+        iyy="0.01018545"
+        iyz="-0.00015956"
+        izz="0.00140744" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_knee_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_knee_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_knee_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="l_hip_y_link" />
+    <child
+      link="l_knee_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.355"
+      effort="120"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_ankle_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 -0.00046563"
+        rpy="0 0 0" />
+      <mass
+        value="0.01206963" />
+      <inertia
+        ixx="2.89e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="3.4e-07"
+        iyz="-0.0"
+        izz="3.01e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_ankle_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="l_knee_y_link" />
+    <child
+      link="l_ankle_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.134"
+      upper="0.872"
+      effort="14"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_ankle_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00088171 0.0 -0.02245193"
+        rpy="0 0 0" />
+      <mass
+        value="0.27064154" />
+      <inertia
+        ixx="0.00014549"
+        ixy="-0.0"
+        ixz="5.53e-06"
+        iyy="0.00071745"
+        iyz="-0.0"
+        izz="0.00081666" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_ankle_x_link.STL" />
+      </geometry>
+    </collision>
+    <!-- <collision name="l_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.0 0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.185" radius="0.01"/>
+      </geometry>
+    </collision>
+    <collision name="l_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.0 -0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.185" radius="0.01"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="l_ankle_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_ankle_y_link" />
+    <child
+      link="l_ankle_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.349"
+      upper="0.349"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_z_link">
+    <inertial>
+      <origin
+        xyz="-0.0951743 0.00029543 0.01157699"
+        rpy="0 0 0" />
+      <mass
+        value="1.26002506" />
+      <inertia
+        ixx="0.00250858"
+        ixy="1.87e-05"
+        ixz="-0.00093719"
+        iyy="0.00299504"
+        iyz="-6.14e-06"
+        izz="0.00188897" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_hip_z_joint"
+    type="revolute">
+    <origin
+      xyz="0 -0.1 -0.1008"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="r_hip_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="20"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00349545 0.05016077 0.000156"
+        rpy="0 0 0" />
+      <mass
+        value="1.75825984" />
+      <inertia
+        ixx="0.00145734"
+        ixy="-0.000276"
+        ixz="2.571e-05"
+        iyy="0.00183603"
+        iyz="4e-08"
+        izz="0.00181117" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_hip_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_z_link" />
+    <child
+      link="r_hip_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.523"
+      effort="40"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_hip_y_link">
+    <inertial>
+      <origin
+        xyz="0.00237237 -0.02408076 -0.04874488"
+        rpy="0 0 0" />
+      <mass
+        value="2.66296401" />
+      <inertia
+        ixx="0.02678786"
+        ixy="-0.00016594"
+        ixz="0.00075939"
+        iyy="0.02619935"
+        iyz="0.00371458"
+        izz="0.0045187" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_hip_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_hip_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_x_link" />
+    <child
+      link="r_hip_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2"
+      upper="1"
+      effort="100"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_knee_y_link">
+    <inertial>
+      <origin
+        xyz="0.00711396 0.00031502 -0.109778"
+        rpy="0 0 0" />
+      <mass
+        value="1.63072158" />
+      <inertia
+        ixx="0.01042781"
+        ixy="-1.62e-06"
+        ixz="-0.00054998"
+        iyy="0.01018544"
+        iyz="0.00015955"
+        izz="0.00140744" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_knee_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_knee_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_knee_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="r_hip_y_link" />
+    <child
+      link="r_knee_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="2.355"
+      effort="120"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_ankle_y_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 -0.00046563"
+        rpy="0 0 0" />
+      <mass
+        value="0.01206963" />
+      <inertia
+        ixx="2.89e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="3.4e-07"
+        iyz="-0.0"
+        izz="3.01e-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_ankle_y_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.3"
+      rpy="0 0 0" />
+    <parent
+      link="r_knee_y_link" />
+    <child
+      link="r_ankle_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.134"
+      upper="0.872"
+      effort="14"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_ankle_x_link">
+    <inertial>
+      <origin
+        xyz="-0.00088171 0.0 -0.02245193"
+        rpy="0 0 0" />
+      <mass
+        value="0.27064154" />
+      <inertia
+        ixx="0.00014549"
+        ixy="-0.0"
+        ixz="5.53e-06"
+        iyy="0.00071745"
+        iyz="-0.0"
+        izz="0.00081666" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_ankle_x_link.STL" />
+      </geometry>
+    </collision>
+    <!-- <collision name="r_foot_1">
+      <origin rpy="0 1.5708 0" xyz="0.0 0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.185" radius="0.01"/>
+      </geometry>
+    </collision>
+    <collision name="r_foot_2">
+      <origin rpy="0 1.5708 0" xyz="0.0 -0.03 -0.03"/>
+      <geometry>
+          <cylinder length="0.185" radius="0.01"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <joint
+    name="r_ankle_x_joint"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_ankle_y_link" />
+    <child
+      link="r_ankle_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.349"
+      upper="0.349"
+      effort="6"
+      velocity="20" />
+  </joint>
+  <link
+    name="waist_z_link">
+    <inertial>
+      <origin
+        xyz="-0.00448944 0.0 -0.02389195"
+        rpy="0 0 0" />
+      <mass
+        value="0.21792014" />
+      <inertia
+        ixx="9.089e-05"
+        ixy="-0.0"
+        ixz="3.456e-05"
+        iyy="0.0001491"
+        iyz="-0.0"
+        izz="0.00013001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_z_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.1167"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="waist_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="40"
+      velocity="20" />
+  </joint>
+  <link
+    name="waist_x_link">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="0.05316739" />
+      <inertia
+        ixx="9.7e-06"
+        ixy="-0.0"
+        ixz="-0.0"
+        iyy="9.7e-06"
+        iyz="-0.0"
+        izz="1.819e-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_x_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="waist_z_link" />
+    <child
+      link="waist_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.262"
+      upper="0.262"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="waist_y_link">
+    <inertial>
+      <origin
+        xyz="-0.00308477 0.00223688 0.1873963"
+        rpy="0 0 0" />
+      <mass
+        value="8.1645757" />
+      <inertia
+        ixx="0.12637158"
+        ixy="-0.00018869"
+        ixz="-0.0005031"
+        iyy="0.08145202"
+        iyz="-0.00060193"
+        izz="0.06836301" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/waist_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="waist_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="waist_x_link" />
+    <child
+      link="waist_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.523"
+      upper="0.523"
+      effort="50"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_y_link">
+    <inertial>
+      <origin
+        xyz="0.00068297 -0.00449372 2.22e-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.53804971" />
+      <inertia
+        ixx="0.00030648"
+        ixy="4.03e-06"
+        ixz="2e-08"
+        iyy="0.00029153"
+        iyz="1e-07"
+        izz="0.00032312" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.21705 0.30075"
+      rpy="0 0 0" />
+    <parent
+      link="waist_y_link" />
+    <child
+      link="l_shld_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="1.57"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_x_link">
+    <inertial>
+      <origin
+        xyz="-2.047e-05 5.316e-05 -0.06162654"
+        rpy="0 0 0" />
+      <mass
+        value="0.48847489" />
+      <inertia
+        ixx="0.00027194"
+        ixy="4e-08"
+        ixz="-5.4e-07"
+        iyy="0.00033709"
+        iyz="-5.4e-07"
+        izz="0.0002884" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_x_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_y_link" />
+    <child
+      link="l_shld_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.5"
+      upper="1.57"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_shld_z_link">
+    <inertial>
+      <origin
+        xyz="4.164e-05 0.00022669 -0.2212782"
+        rpy="0 0 0" />
+      <mass
+        value="0.59309528" />
+      <inertia
+        ixx="0.00136573"
+        ixy="5.3e-07"
+        ixz="-1e-08"
+        iyy="0.00133989"
+        iyz="1.22e-06"
+        izz="0.00030342" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_shld_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_shld_z_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_x_link" />
+    <child
+      link="l_shld_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_elb_y_link">
+    <inertial>
+      <origin
+        xyz="5.192e-05 1.999e-05 -0.08561189"
+        rpy="0 0 0" />
+      <mass
+        value="0.50005725" />
+      <inertia
+        ixx="0.00043713"
+        ixy="-4e-08"
+        ixz="-4.9e-07"
+        iyy="0.00036043"
+        iyz="6.3e-07"
+        izz="0.00030266" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_elb_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.24"
+      rpy="0 0 0" />
+    <parent
+      link="l_shld_z_link" />
+    <child
+      link="l_elb_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.355"
+      upper="0.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="l_elb_z_link">
+    <inertial>
+      <origin
+        xyz="1.97e-06 -1.756e-05 -0.18282539"
+        rpy="0 0 0" />
+      <mass
+        value="0.13457416" />
+      <inertia
+        ixx="0.00040001"
+        ixy="-0.0"
+        ixz="-2e-08"
+        iyy="0.00039996"
+        iyz="1.5e-07"
+        izz="5.662e-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/l_elb_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_elb_z_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="l_elb_y_link" />
+    <child
+      link="l_elb_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_y_link">
+    <inertial>
+      <origin
+        xyz="0.00068297 0.00449372 -2.22e-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.53804971" />
+      <inertia
+        ixx="0.00030648"
+        ixy="-4.03e-06"
+        ixz="-2e-08"
+        iyy="0.00029153"
+        iyz="1e-07"
+        izz="0.00032312" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 -0.21705 0.30075"
+      rpy="0 0 0" />
+    <parent
+      link="waist_y_link" />
+    <child
+      link="r_shld_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-3.14"
+      upper="1.57"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_x_link">
+    <inertial>
+      <origin
+        xyz="2.047e-05 -5.316e-05 -0.06162654"
+        rpy="0 0 0" />
+      <mass
+        value="0.48847489" />
+      <inertia
+        ixx="0.00027194"
+        ixy="4e-08"
+        ixz="5.4e-07"
+        iyy="0.00033709"
+        iyz="5.4e-07"
+        izz="0.0002884" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_x_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_x_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_x_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_y_link" />
+    <child
+      link="r_shld_x_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-1.57"
+      upper="0.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_shld_z_link">
+    <inertial>
+      <origin
+        xyz="-4.164e-05 -0.00022669 -0.2212782"
+        rpy="0 0 0" />
+      <mass
+        value="0.59309528" />
+      <inertia
+        ixx="0.00136573"
+        ixy="5.3e-07"
+        ixz="1e-08"
+        iyy="0.00133989"
+        iyz="-1.22e-06"
+        izz="0.00030342" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_shld_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_shld_z_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_x_link" />
+    <child
+      link="r_shld_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="7"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_elb_y_link">
+    <inertial>
+      <origin
+        xyz="-5.192e-05 -1.999e-05 -0.08561189"
+        rpy="0 0 0" />
+      <mass
+        value="0.50005725" />
+      <inertia
+        ixx="0.00043713"
+        ixy="-4e-08"
+        ixz="4.9e-07"
+        iyy="0.00036043"
+        iyz="-6.3e-07"
+        izz="0.00030266" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_y_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_y_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_elb_y_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.24"
+      rpy="0 0 0" />
+    <parent
+      link="r_shld_z_link" />
+    <child
+      link="r_elb_y_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.355"
+      upper="0.5"
+      effort="27"
+      velocity="20" />
+  </joint>
+  <link
+    name="r_elb_z_link">
+    <inertial>
+      <origin
+        xyz="-1.97e-06 1.756e-05 -0.18282539"
+        rpy="0 0 0" />
+      <mass
+        value="0.13457416" />
+      <inertia
+        ixx="0.00040001"
+        ixy="-0.0"
+        ixz="2e-08"
+        iyy="0.00039996"
+        iyz="-1.5e-07"
+        izz="5.662e-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_z_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/r_elb_z_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_elb_z_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="r_elb_y_link" />
+    <child
+      link="r_elb_z_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="7"
+      velocity="20" />
+  </joint>
+</robot>
\ No newline at end of file

resources/robots/elf2/urdf/elf2_dof12.urdf

@@ -71,7 +71,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -79,7 +79,7 @@
         <mesh
           filename="../meshes/l_hip_z_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_hip_z_joint"
@@ -129,7 +129,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -137,7 +137,7 @@
         <mesh
           filename="../meshes/l_hip_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_hip_x_joint"
@@ -187,7 +187,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -195,7 +195,7 @@
         <mesh
           filename="../meshes/l_hip_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_hip_y_joint"
@@ -303,7 +303,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -311,7 +311,7 @@
         <mesh
           filename="../meshes/l_ankle_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_ankle_y_joint"
@@ -431,7 +431,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -439,7 +439,7 @@
         <mesh
           filename="../meshes/r_hip_z_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_hip_z_joint"
@@ -489,7 +489,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -497,7 +497,7 @@
         <mesh
           filename="../meshes/r_hip_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_hip_x_joint"
@@ -547,7 +547,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -555,7 +555,7 @@
         <mesh
           filename="../meshes/r_hip_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_hip_y_joint"
@@ -663,7 +663,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -671,7 +671,7 @@
         <mesh
           filename="../meshes/r_ankle_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_ankle_y_joint"
@@ -791,7 +791,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -799,7 +799,7 @@
         <mesh
           filename="../meshes/waist_z_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="waist_z_joint"
@@ -849,7 +849,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -857,7 +857,7 @@
         <mesh
           filename="../meshes/waist_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="waist_x_joint"
@@ -965,7 +965,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -973,7 +973,7 @@
         <mesh
           filename="../meshes/l_shld_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_shld_y_joint"
@@ -1023,7 +1023,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -1031,7 +1031,7 @@
         <mesh
           filename="../meshes/l_shld_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_shld_x_joint"
@@ -1255,7 +1255,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -1263,7 +1263,7 @@
         <mesh
           filename="../meshes/r_shld_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_shld_y_joint"
@@ -1313,7 +1313,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -1321,7 +1321,7 @@
         <mesh
           filename="../meshes/r_shld_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_shld_x_joint"

resources/robots/elf2/urdf/elf2_dof25.urdf

@@ -71,7 +71,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -79,7 +79,7 @@
         <mesh
           filename="../meshes/l_hip_z_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_hip_z_joint"
@@ -129,7 +129,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -137,7 +137,7 @@
         <mesh
           filename="../meshes/l_hip_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_hip_x_joint"
@@ -187,7 +187,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -195,7 +195,7 @@
         <mesh
           filename="../meshes/l_hip_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_hip_y_joint"
@@ -303,7 +303,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -311,7 +311,7 @@
         <mesh
           filename="../meshes/l_ankle_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_ankle_y_joint"
@@ -431,7 +431,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -439,7 +439,7 @@
         <mesh
           filename="../meshes/r_hip_z_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_hip_z_joint"
@@ -489,7 +489,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -497,7 +497,7 @@
         <mesh
           filename="../meshes/r_hip_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_hip_x_joint"
@@ -547,7 +547,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -555,7 +555,7 @@
         <mesh
           filename="../meshes/r_hip_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_hip_y_joint"
@@ -663,7 +663,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -671,7 +671,7 @@
         <mesh
           filename="../meshes/r_ankle_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_ankle_y_joint"
@@ -791,7 +791,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -799,7 +799,7 @@
         <mesh
           filename="../meshes/waist_z_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="waist_z_joint"
@@ -849,7 +849,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -857,7 +857,7 @@
         <mesh
           filename="../meshes/waist_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="waist_x_joint"
@@ -965,7 +965,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -973,7 +973,7 @@
         <mesh
           filename="../meshes/l_shld_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_shld_y_joint"
@@ -1023,7 +1023,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -1031,7 +1031,7 @@
         <mesh
           filename="../meshes/l_shld_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="l_shld_x_joint"
@@ -1255,7 +1255,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -1263,7 +1263,7 @@
         <mesh
           filename="../meshes/r_shld_y_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_shld_y_joint"
@@ -1313,7 +1313,7 @@
           rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
       </material>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
@@ -1321,7 +1321,7 @@
         <mesh
           filename="../meshes/r_shld_x_link.STL" />
       </geometry>
-    </collision>
+    </collision> -->
   </link>
   <joint
     name="r_shld_x_joint"