Add doosan m1013

CONTRIBUTORS.md

@@ -34,6 +34,7 @@ Built by the Google DeepMind team with contributions from the open-source commun
 - [Omar Rayyan](https://github.com/omarrayyann)
 - [Sai Kishor Kothakota](https://github.com/saikishor)
 - [Taylor Howell](https://github.com/thowell)
+- [Theo Choi](https://github.com/Bigenlight)
 - [Thomas Lips](https://github.com/tlpss)
 - [Thomas Peyrucain](https://github.com/thomaspeyrucain)
 - [Varad Vaidya](https://github.com/varadVaidya)

README.md

@@ -26,15 +26,16 @@ well right out of the gate.
 
 ### Gallery
 
-|<img src="assets/franka_fr3-fr3.png" width=100>|<img src="assets/kinova_gen3-gen3.png" width=100>|<img src="assets/kuka_iiwa_14-iiwa14.png" width=100>|<img src="assets/ufactory_lite6-lite6.png" width=100>|<img src="assets/franka_emika_panda-panda.png" width=100>|
+|<img src='assets/franka_fr3-fr3.png' width=100>|<img src='assets/kinova_gen3-gen3.png' width=100>|<img src='assets/kuka_iiwa_14-iiwa14.png' width=100>|<img src='assets/ufactory_lite6-lite6.png' width=100>|<img src='assets/doosan_robotics_m1013-m1013.png' width=100>|
 | :---: | :---: | :---: | :---: | :---: |
-|<img src="assets/agilex_piper-piper.png" width=100>|<img src="assets/rethink_robotics_sawyer-sawyer.png" width=100>|<img src="assets/universal_robots_ur10e-ur10e.png" width=100>|<img src="assets/universal_robots_ur5e-ur5e.png" width=100>|<img src="assets/trossen_vx300s-vx300s.png" width=100>|
-|<img src="assets/ufactory_xarm7-xarm7.png" width=100>|<img src="assets/unitree_z1-z1.png" width=100>|<img src="assets/aloha-aloha.png" width=100>|<img src="assets/robotiq_2f85-2f85.png" width=100>|<img src="assets/franka_emika_panda-hand.png" width=100>|
-|<img src="assets/ufactory_xarm7-hand.png" width=100>|<img src="assets/wonik_allegro-left_hand.png" width=100>|<img src="assets/shadow_hand-left_hand.png" width=100>|<img src="assets/leap_hand-left_hand.png" width=100>|<img src="assets/shadow_dexee-shadow_dexee.png" width=100>|
-|<img src="assets/google_robot-robot.png" width=100>|<img src="assets/unitree_a1-a1.png" width=100>|<img src="assets/anybotics_anymal_b-anymal_b.png" width=100>|<img src="assets/anybotics_anymal_c-anymal_c.png" width=100>|<img src="assets/google_barkour_v0-barkour_v0.png" width=100>|
-|<img src="assets/google_barkour_vb-barkour_vb.png" width=100>|<img src="assets/unitree_go1-go1.png" width=100>|<img src="assets/unitree_go2-go2.png" width=100>|<img src="assets/boston_dynamics_spot-spot_arm.png" width=100>|<img src="assets/agility_cassie-cassie.png" width=100>|
-|<img src="assets/unitree_g1-g1.png" width=100>|<img src="assets/unitree_h1-h1.png" width=100>|<img src="assets/robotis_op3-op3.png" width=100>|<img src="assets/booster_t1-t1.png" width=100>|<img src="assets/pal_talos-talos.png" width=100>|
-|<img src="assets/bitcraze_crazyflie_2-cf2.png" width=100>|<img src="assets/skydio_x2-x2.png" width=100>|<img src="assets/flybody-fruitfly.png" width=100>|<img src="assets/realsense_d435i-d435i.png" width=100>||
+|<img src='assets/franka_emika_panda-panda.png' width=100>|<img src='assets/agilex_piper-piper.png' width=100>|<img src='assets/rethink_robotics_sawyer-sawyer.png' width=100>|<img src='assets/universal_robots_ur10e-ur10e.png' width=100>|<img src='assets/universal_robots_ur5e-ur5e.png' width=100>|
+|<img src='assets/trossen_vx300s-vx300s.png' width=100>|<img src='assets/ufactory_xarm7-xarm7.png' width=100>|<img src='assets/unitree_z1-z1.png' width=100>|<img src='assets/aloha-aloha.png' width=100>|<img src='assets/robotiq_2f85-2f85.png' width=100>|
+|<img src='assets/franka_emika_panda-hand.png' width=100>|<img src='assets/ufactory_xarm7-hand.png' width=100>|<img src='assets/wonik_allegro-left_hand.png' width=100>|<img src='assets/shadow_hand-left_hand.png' width=100>|<img src='assets/leap_hand-left_hand.png' width=100>|
+|<img src='assets/shadow_dexee-shadow_dexee.png' width=100>|<img src='assets/google_robot-robot.png' width=100>|<img src='assets/hello_robot_stretch-stretch.png' width=100>|<img src='assets/unitree_a1-a1.png' width=100>|<img src='assets/anybotics_anymal_b-anymal_b.png' width=100>|
+|<img src='assets/anybotics_anymal_c-anymal_c.png' width=100>|<img src='assets/google_barkour_v0-barkour_v0.png' width=100>|<img src='assets/google_barkour_vb-barkour_vb.png' width=100>|<img src='assets/unitree_go1-go1.png' width=100>|<img src='assets/unitree_go2-go2.png' width=100>|
+|<img src='assets/boston_dynamics_spot-spot_arm.png' width=100>|<img src='assets/agility_cassie-cassie.png' width=100>|<img src='assets/unitree_g1-g1.png' width=100>|<img src='assets/unitree_h1-h1.png' width=100>|<img src='assets/robotis_op3-op3.png' width=100>|
+|<img src='assets/booster_t1-t1.png' width=100>|<img src='assets/pal_talos-talos.png' width=100>|<img src='assets/bitcraze_crazyflie_2-cf2.png' width=100>|<img src='assets/skydio_x2-x2.png' width=100>|<img src='assets/flybody-fruitfly.png' width=100>|
+|<img src='assets/realsense_d435i-d435i.png' width=100>|||||
 
 - [Getting Started](#getting-started)
   - [Prerequisites](#prerequisites)
@@ -190,6 +191,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | SO-ARM100 | The Robot Studio | 5 | [Apache-2.0](trs_so_arm100/LICENSE) |✖️|
 | Koch v1.1 Low-Cost Robot | Hugging Face | 5 | [Apache-2.0](low_cost_robot_arm/LICENSE) |✖️|
 | YAM | I2RT Robotics | 7 | [MIT](i2rt_yam/LICENSE) |✖️|
+| M1013 | Doosan Robotics | 6 | [BSD-3-Clause](doosan_robotics_m1013/LICENSE) |✖️|
 
 **Bipeds.**
 

doosan_robotics_m1013/CHANGELOG.md

@@ -0,0 +1,6 @@
+# Changelog – M1013 Description
+
+All notable changes to this model will be documented in this file.
+
+## [30/05/2025]
+- Initial release.

doosan_robotics_m1013/LICENSE

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, Doosan Robotics Inc.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

doosan_robotics_m1013/README.md

@@ -0,0 +1,32 @@
+# Doosan Robotics M1013 (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [M1013 white series](https://www.doosanrobotics.com/en/product-solutions/product/m-series/m1013/) developed by [Doosan Robotics](https://www.doosanrobotics.com/en). It is derived from the [publicly available URDF description](https://github.com/DoosanRobotics/doosan-robot2).
+
+<p float="left">
+  <img src="m1013.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Ran the XACRO generation cli to convert the [original file](https://github.com/DoosanRobotics/doosan-robot2/blob/humble/dsr_description2/xacro/m1013.urdf.xacro) to URDF.
+    * Command used: `xacro m1013.urdf.xacro > output.urdf`
+2. Converted the DAE visual meshes to STL using [MeshLab](https://www.meshlab.net/) and change the paths.
+3. Added `<mujoco> <compiler meshdir="assets" balanceinertia="true" discardvisual="false" /> </mujoco>` to the URDF's `<robot>` clause.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Add material color for better match the real world.
+6. Manually edited the MJCF to extract common properties into the `<default>` section.
+7. Added position-controlled actuators for the arm and keyframe.
+8. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under an [BSD 3-Clause License](LICENSE).

doosan_robotics_m1013/m1013.xml

@@ -0,0 +1,84 @@
+<mujoco model="m1013">
+  <compiler angle="radian" meshdir="assets"/>
+
+  <asset>
+    <mesh name="MF1013_0_0" file="MF1013_0_0.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_1_0" file="MF1013_1_0.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_2_0" file="MF1013_2_0.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_2_1" file="MF1013_2_1.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_2_2" file="MF1013_2_2.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_3_0" file="MF1013_3_0.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_4_0" file="MF1013_4_0.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_4_1" file="MF1013_4_1.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_5_0" file="MF1013_5_0.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="MF1013_6_0" file="MF1013_6_0.stl" scale="0.001 0.001 0.001"/>
+
+    <material name="white" rgba="0.9 0.9 0.9 1"/>
+    <material name="metal" rgba="0.65 0.65 0.65 1"/>
+  </asset>
+
+  <default>
+    <default class="m1013">
+      <geom type="mesh" contype="1" conaffinity="1" group="1"/>
+      <joint pos="0 0 0" axis="0 0 1"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="base_link" childclass="m1013">
+      <geom mesh="MF1013_0_0" material="metal"/>
+      <body name="link_1" pos="0 0 0.1525">
+        <inertial pos="0.000119 0.0428 -0.006383" quat="0.464342 0.521165 -0.533586 0.477557" mass="7.8"
+          diaginertia="0.0472838 0.0450586 0.0294526"/>
+        <joint name="joint_1" range="-6.2832 6.2832" actuatorfrcrange="-346 346" damping="180"/>
+        <geom mesh="MF1013_1_0" material="white"/>
+        <body name="link_2" pos="0 0.0345 0" quat="0.499898 -0.500102 -0.5 -0.5">
+          <inertial pos="0.25973 -5.3e-05 0.15782" quat="0.0181111 0.703821 0.0182764 0.709911" mass="10.83"
+            diaginertia="0.850272 0.849428 0.0375257"/>
+          <joint name="joint_2" range="-6.2832 6.2832" actuatorfrcrange="-346 346" damping="180"/>
+          <geom mesh="MF1013_2_0" material="white"/>
+          <geom mesh="MF1013_2_1" material="metal"/>
+          <geom mesh="MF1013_2_2" material="white"/>
+          <body name="link_3" pos="0.62 0 0" quat="0.707035 0 0 0.707179">
+            <inertial pos="-1.5e-05 -0.006702 0.044608" quat="0.713939 -0.0462748 0.0455669 0.69719" mass="3.68"
+              diaginertia="0.0191021 0.0187478 0.0113721"/>
+            <joint name="joint_3" range="-2.7925 2.7925" actuatorfrcrange="-163 163" damping="100"/>
+            <geom mesh="MF1013_3_0" material="white"/>
+            <body name="link_4" pos="0 -0.559 0" quat="0.707035 0.707179 0 0">
+              <inertial pos="7.1e-05 0.091879 -0.18252" quat="0.987197 -0.159369 -0.000923443 -0.0064664" mass="3.82"
+                diaginertia="0.19063 0.190249 0.0128173"/>
+              <joint name="joint_4" range="-6.2832 6.2832" actuatorfrcrange="-50 50" damping="20"/>
+              <geom mesh="MF1013_4_0" material="white"/>
+              <geom mesh="MF1013_4_1" material="white"/>
+              <body name="link_5" quat="0.707035 -0.707179 0 0">
+                <inertial pos="-0.000273 0.003651 0.032088" quat="0.996984 0.0775632 0.000422658 0.00257843" mass="2.82"
+                  diaginertia="0.0155831 0.0115855 0.00880048"/>
+                <joint name="joint_5" range="-6.2832 6.2832" actuatorfrcrange="-50 50" damping="20"/>
+                <geom mesh="MF1013_5_0" material="white"/>
+                <body name="link_6" pos="0 -0.121 0" quat="0.707035 0.707179 0 0">
+                  <inertial pos="-0.000292 7e-06 -0.0539" quat="0.0099287 0.708965 0.0073912 0.705135" mass="1.16"
+                    diaginertia="0.00612644 0.00595181 0.00482815"/>
+                  <joint name="joint_6" range="-6.2832 6.2832" actuatorfrcrange="-50 50" damping="20"/>
+                  <geom mesh="MF1013_6_0" material="metal"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position joint="joint_1" kp="10000" kv="200" ctrlrange="-6.28319 6.28319"/>
+    <position joint="joint_2" kp="10000" kv="200" ctrlrange="-6.28319 6.28319"/>
+    <position joint="joint_3" kp="10000" kv="200" ctrlrange="-2.7925 2.7925"/>
+    <position joint="joint_4" kp="10000" kv="10" ctrlrange="-6.28319 6.28319"/>
+    <position joint="joint_5" kp="10000" kv="10" ctrlrange="-6.28319 6.28319"/>
+    <position joint="joint_6" kp="10000" kv="10" ctrlrange="-6.28319 6.28319"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home" qpos="0 0 1.57 0 1.57 0" ctrl="0 0 1.57 0 1.57 0"/>
+  </keyframe>
+</mujoco>

doosan_robotics_m1013/scene.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<mujoco model="m1013 scene">
+  <include file="m1013.xml"/>
+
+  <statistic center="0.3 0 0.4" extent="1"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="120" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+
+  <keyframe>
+    <key name="home" qpos="0 0 1.57 0 1.57 0" ctrl="0 0 1.57 0 1.57 0"/>
+  </keyframe>
+</mujoco>

generate_gallery.py

@@ -91,6 +91,7 @@ class ModelType(int, enum.Enum):
     "kinova_gen3/gen3": "gen3",
     "booster_t1/t1": "t1",
     "agilex_piper/piper": "piper",
+    "doosan_robotics_m1013/m1013": "m1013",
 }
 
 MODEL_MAP = {
@@ -134,6 +135,7 @@ class ModelType(int, enum.Enum):
     "kinova_gen3/gen3": ModelType.ARM,
     "booster_t1/t1": ModelType.HUMANOID,
     "agilex_piper/piper": ModelType.ARM,
+    "doosan_robotics_m1013/m1013": ModelType.ARM,
 }
 
 DEFAULT_FOV = 40
@@ -332,6 +334,11 @@ class ModelType(int, enum.Enum):
         xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940",
         fovy=50,
     ),
+    "doosan_robotics_m1013/m1013": dict(
+        pos="1.013 -1.340 0.552", 
+        xyaxes="0.870 0.492 0.000 -0.056 0.099 0.994",
+        fovy=DEFAULT_FOV,
+    ),
 }
 
 # pylint: disable=line-too-long
@@ -343,6 +350,7 @@ class ModelType(int, enum.Enum):
     "google_robot": "-1.51699e-13 -1.16232e-12 -0.1444 2.9724 -0.146 -0.3759 1.15806e-12 0.5518 0.62275",
     "aloha": "0.43988 -0.206468 1.08253 -0.443382 -1.084 -0.00397598 0.0084 0.00846495 -1.28822 -0.360594 0.717978 -0.000325086 -0.273415 6.76003e-05 0.0084 0.00839987",
     "kuka_iiwa_14": "0 0 0 -1.5708 0 1.5708 0",
+    "m1013": "0 0 1.57 0 1.57 0",
 }
 # pylint: enable=line-too-long
 
@@ -371,7 +379,6 @@ def create_arena():
 
 MODEL_XMLS = [pathlib.Path(f"../{k}.xml") for k in MODEL_MAP.keys()]
 
-
 # Sort XML files.
 def sort_func(xml):
   name = f"{xml.parent.stem}/{xml.stem}"