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‎.gitignore‎

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# Python
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.DS_Store
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**/*.egg-info/
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**/__pycache__/
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**/.pytest_cache/
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**/*.pyc
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**/*.pb
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# Onshape-to-robot
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ros2/build/
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ros2/install/
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ros2/log/
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data/meshes/
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data/parts/
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data/scad/
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# Omniverse USD
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data/usd/Props/
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data/usd/.asset_hash
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data/usd/config.yaml

‎LICENCE‎

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‎Makefile‎

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ROBOT ?= berkeley_humanoid_lite
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.PHONY: clean urdf mjcf usd
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all: clean urdf mjcf usd
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urdf:
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mv ./data/scad/* ./
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mkdir -p ./data/meshes/
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mkdir -p ./data/parts/
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mkdir -p ./data/scad/
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mkdir -p ./data/urdf/
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onshape-to-robot .
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mv *.stl ./data/meshes/
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mv *.part ./data/parts/
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mv *.scad ./data/scad/
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mv *.urdf ./data/urdf/
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python postprocess.py
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mv ./data/urdf/robot.urdf ./data/urdf/${ROBOT}.urdf
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mjcf:
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${MUJOCO_HOME}/compile ./data/urdf/${ROBOT}.urdf ./data/mjcf/${ROBOT}.xml
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usd:
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python ${ISAACLAB_HOME}/source/standalone/tools/convert_urdf.py ./data/urdf/${ROBOT}.urdf ./data/usd/${ROBOT}.usd --merge-joints --make-instanceable
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clean:
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rm -rf ./data/meshes/*
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rm -rf ./data/parts/*
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rm -rf ./data/scad/*
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rm -rf ./data/urdf/*
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cp ./scad_override/* ./data/scad/

‎README.md‎

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‎berkeley_humanoid_lite_assets/robots/__init__.py‎

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# Copyright (c) 2025, The Berkeley Humanoid Lite Project Developers.
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from .berkeley_humanoid_lite import *

‎berkeley_humanoid_lite_assets/robots/berkeley_humanoid_lite.py‎

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# Copyright (c) 2025, The Berkeley Humanoid Lite Project Developers.
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import os
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import isaaclab.sim as sim_utils
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from isaaclab.actuators import ImplicitActuatorCfg
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from isaaclab.assets.articulation import ArticulationCfg
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ISAACLAB_ASSET_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "data"))
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HUMANOID_LITE_LEG_JOINTS = [
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"leg_left_hip_roll_joint",
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"leg_left_hip_yaw_joint",
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"leg_left_hip_pitch_joint",
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"leg_left_knee_pitch_joint",
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"leg_left_ankle_pitch_joint",
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"leg_left_ankle_roll_joint",
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"leg_right_hip_roll_joint",
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"leg_right_hip_yaw_joint",
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"leg_right_hip_pitch_joint",
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"leg_right_knee_pitch_joint",
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"leg_right_ankle_pitch_joint",
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"leg_right_ankle_roll_joint",
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]
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HUMANOID_LITE_ARM_JOINTS = [
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"arm_left_shoulder_pitch_joint",
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"arm_left_shoulder_roll_joint",
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"arm_left_shoulder_yaw_joint",
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"arm_left_elbow_pitch_joint",
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"arm_left_elbow_roll_joint",
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"arm_right_shoulder_pitch_joint",
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"arm_right_shoulder_roll_joint",
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"arm_right_shoulder_yaw_joint",
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"arm_right_elbow_pitch_joint",
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"arm_right_elbow_roll_joint",
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]
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HUMANOID_LITE_JOINTS = HUMANOID_LITE_ARM_JOINTS + HUMANOID_LITE_LEG_JOINTS
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HUMANOID_LITE_BIPED_CFG = ArticulationCfg(
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spawn=sim_utils.UsdFileCfg(
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usd_path=f"{ISAACLAB_ASSET_DIR}/usd/berkeley_humanoid_lite_biped.usd",
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activate_contact_sensors=True,
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rigid_props=sim_utils.RigidBodyPropertiesCfg(
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disable_gravity=False,
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retain_accelerations=False,
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linear_damping=0.0,
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angular_damping=0.0,
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max_linear_velocity=1000.0,
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max_angular_velocity=1000.0,
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max_depenetration_velocity=1.0,
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),
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articulation_props=sim_utils.ArticulationRootPropertiesCfg(
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enabled_self_collisions=False, solver_position_iteration_count=8, solver_velocity_iteration_count=4
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),
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),
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init_state=ArticulationCfg.InitialStateCfg(
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pos=(0.0, 0.0, 0.6),
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joint_pos={
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"leg_left_hip_roll_joint": 0.0,
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"leg_left_hip_yaw_joint": 0.0,
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"leg_left_hip_pitch_joint": -0.2,
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"leg_left_knee_pitch_joint": 0.4,
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"leg_left_ankle_pitch_joint": -0.3,
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"leg_left_ankle_roll_joint": 0.0,
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"leg_right_hip_roll_joint": 0.0,
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"leg_right_hip_yaw_joint": 0.0,
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"leg_right_hip_pitch_joint": -0.2,
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"leg_right_knee_pitch_joint": 0.4,
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"leg_right_ankle_pitch_joint": -0.3,
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"leg_right_ankle_roll_joint": 0.0,
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},
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joint_vel={".*": 0.0},
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),
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soft_joint_pos_limit_factor=0.9,
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actuators={
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"legs": ImplicitActuatorCfg(
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joint_names_expr=[
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"leg_.*_hip_yaw_joint",
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"leg_.*_hip_roll_joint",
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"leg_.*_hip_pitch_joint",
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"leg_.*_knee_pitch_joint",
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],
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effort_limit=6,
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velocity_limit=10.0,
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stiffness=20,
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damping=2,
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armature=0.007,
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),
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"ankles": ImplicitActuatorCfg(
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joint_names_expr=[
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"leg_.*_ankle_pitch_joint",
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"leg_.*_ankle_roll_joint",
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],
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effort_limit=6,
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velocity_limit=10.0,
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stiffness=20,
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damping=2,
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armature=0.002,
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),
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},
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)
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"""Configuration for the Berkeley Humanoid Lite robot in bipedal mode."""
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HUMANOID_LITE_CFG = ArticulationCfg(
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spawn=sim_utils.UsdFileCfg(
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usd_path=f"{ISAACLAB_ASSET_DIR}/usd/berkeley_humanoid_lite.usd",
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activate_contact_sensors=True,
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rigid_props=sim_utils.RigidBodyPropertiesCfg(
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disable_gravity=False,
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retain_accelerations=False,
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linear_damping=0.0,
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angular_damping=0.0,
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max_linear_velocity=1000.0,
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max_angular_velocity=1000.0,
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max_depenetration_velocity=1.0,
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),
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articulation_props=sim_utils.ArticulationRootPropertiesCfg(
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enabled_self_collisions=False, solver_position_iteration_count=8, solver_velocity_iteration_count=4
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),
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),
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init_state=ArticulationCfg.InitialStateCfg(
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pos=(0.0, 0.0, 0.6),
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joint_pos={
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"arm_left_shoulder_pitch_joint": 0.0,
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"arm_left_shoulder_roll_joint": 0.0,
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"arm_left_shoulder_yaw_joint": 0.0,
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"arm_left_elbow_pitch_joint": 0.0,
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"arm_left_elbow_roll_joint": 0.0,
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"arm_right_shoulder_pitch_joint": 0.0,
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"arm_right_shoulder_roll_joint": 0.0,
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"arm_right_shoulder_yaw_joint": 0.0,
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"arm_right_elbow_pitch_joint": 0.0,
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"arm_right_elbow_roll_joint": 0.0,
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"leg_left_hip_roll_joint": 0.0,
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"leg_left_hip_yaw_joint": 0.0,
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"leg_left_hip_pitch_joint": -0.2,
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"leg_left_knee_pitch_joint": 0.4,
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"leg_left_ankle_pitch_joint": -0.3,
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"leg_left_ankle_roll_joint": 0.0,
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"leg_right_hip_roll_joint": 0.0,
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"leg_right_hip_yaw_joint": 0.0,
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"leg_right_hip_pitch_joint": -0.2,
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"leg_right_knee_pitch_joint": 0.4,
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"leg_right_ankle_pitch_joint": -0.3,
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"leg_right_ankle_roll_joint": 0.0,
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},
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joint_vel={".*": 0.0},
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),
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soft_joint_pos_limit_factor=0.9,
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actuators={
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"arms": ImplicitActuatorCfg(
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joint_names_expr=[
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"arm_.*_shoulder_pitch_joint",
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"arm_.*_shoulder_roll_joint",
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"arm_.*_shoulder_yaw_joint",
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"arm_.*_elbow_pitch_joint",
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"arm_.*_elbow_roll_joint",
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],
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effort_limit=4,
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velocity_limit=10.0,
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stiffness=10,
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damping=2,
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armature=0.002,
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),
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"legs": ImplicitActuatorCfg(
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joint_names_expr=[
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"leg_.*_hip_yaw_joint",
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"leg_.*_hip_roll_joint",
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"leg_.*_hip_pitch_joint",
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"leg_.*_knee_pitch_joint",
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],
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effort_limit=6,
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velocity_limit=10.0,
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stiffness=20,
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damping=2,
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armature=0.007,
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),
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"ankles": ImplicitActuatorCfg(
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joint_names_expr=[
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"leg_.*_ankle_pitch_joint",
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"leg_.*_ankle_roll_joint",
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],
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effort_limit=6,
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velocity_limit=10.0,
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stiffness=20,
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damping=2,
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armature=0.002,
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),
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},
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)
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"""Configuration for the Berkeley Humanoid Lite robot."""

‎config.json‎

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{
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"documentId": "8eacf058d85ce70fa4dc9355",
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"outputFormat": "urdf",
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"assemblyName": "Assembly",
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"robotName": "berkeley-humanoid-lite",
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"ignore": [
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"695-2rs_ball",
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"695-2rs_innerhousing",
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"695-2rs_outerhousing",
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"695-2rs_shield",
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"696-2rs_ball",
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"696-2rs_innerhousing",
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"696-2rs_outerhousing",
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"696-2rs_shield",
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"6701-2rs_ball",
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"6701-2rs_innerhousing",
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"6701-2rs_outerhousing",
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"6701-2rs_shield",
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"6809-2rs_ball",
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"6809-2rs_innerhousing",
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"6809-2rs_outerhousing",
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"6809-2rs_shield",
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"6811zz_ball",
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"6811zz_innerhousing",
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"6811zz_outerhousing",
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"6811zz_shield",
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"mr106-2rs_ball",
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"mr106-2rs_innerhousing",
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"mr106-2rs_outerhousing",
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"mr106-2rs_shield",
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"5972k278_ball_bearing",
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"cycloidal_disk",
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"input_shaft",
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"motor_shaft",
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"output_shaft_rear",
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"output_shaft_spacer",
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"hex_standoff",
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"rotor_mount",
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"rotor_ring",
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"rotor_shaft_clip",
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"rotor_shaft",
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"stator_coil",
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"stator_mount",
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"cables",
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"can_connector",
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"fets",
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"gate_drivers",
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"pcb",
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"pot",
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"moteus-controller-r45"
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],
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"color": [0.8, 0.8, 0.8],
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"addDummyBaseLink": false,
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"useFixedLinks": false,
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"mergeSTLs": "all",
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"mergeSTLsCollisions": false,
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"simplifySTLs": "all",
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"maxSTLSize": 3,
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"useScads": true,
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"jointMaxEffort": {
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"default": 20
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},
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"jointMaxVelocity": 15,
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"drawCollisions": false
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}

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