ROBOTIS OP3
ROBOTIS OP3 is a small humanoid with 20 joints, made by ROBOTIS. This model comes from MuJoCo Menagerie by Google DeepMind, under the Apache-2.0 licence. The licence text is in LICENSE.
Not made by Lucen Robotics. Listed as a reference model for simulation.
The source's own README is kept unchanged as SOURCE_README.md.
How it was set up
The files come from robotis_op3 in MuJoCo Menagerie, at commit 822c2d8.
The robot card was drafted from the model by lucen robot init, as in Add your robot.
The model file does not state the values below. Each one comes from the source beside it.
| Setting | Value | Where it comes from |
|---|---|---|
| Control rate | 50 Hz | Playground op3/joystick.py ctrl_dt=0.02 |
| Action | offset from the default pose | Playground op3/joystick.py: motor_targets = default_pose + action * action_scale |
| Action scale | 0.3 | Playground op3/joystick.py action_scale=0.3 |
| What a policy senses | joint positions, joint velocities, base angular velocity, gravity direction | the OP3's Dynamixel encoders and IMU |
| Command | forward, sideways and turning speed | Playground's joystick command (vx, vy, yaw) |
| Everything else | read from the model file | joint order, qpos0 as the default pose (the model has no keyframe; Playground's task keeps its own), and kp 21.1 / force limit 5 N·m from the MJCF's own <position> actuators. |
The configs cited above, at the commits read:
- Playground: MuJoCo Playground, commit
4057c14. Each robot's task file, under locomotion or manipulation, in itsdefault_config().
No file from the source was changed. This README, the robot card and the robot's pictures are new.