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feat(microduck): port BAM xl330-m6 voltage actuator model (issue #1474) #1475

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Merged
TATP-233 merged 2 commits into from
Sep 3, 2026
Merged

feat(microduck): port BAM xl330-m6 voltage actuator model (issue #1474) #1475

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e9c0094
feat(microduck): port BAM xl330-m6 voltage actuator model (issue #1474)
TATP-233 Sep 3, 2026
8371566
docs: regenerate support matrix for MicroduckVelocityBamFlat (#1474)
TATP-233 Sep 3, 2026
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1 change: 1 addition & 0 deletions docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,7 @@ uv run scripts/generate_support_matrix.py --write
| PPO (torch) | `go2w_joystick_rough` (go2w joystick rough) | Tested | - | Tested | - | - | - |
| PPO (torch) | `microduck_ground_pick_flat` (microduck ground pick flat) | - | Configured | - | - | - | - |
| PPO (torch) | `microduck_sitstand_flat` (microduck sitstand flat) | - | Configured | - | - | - | - |
| PPO (torch) | `microduck_velocity_bam_flat` (microduck velocity bam flat) | Tested | - | - | - | - | - |
| PPO (torch) | `microduck_velocity_flat` (microduck velocity flat) | Tested | Configured | - | - | - | - |
| PPO (torch) | `stewart_balance` (stewart balance) | Tested | - | Tested | - | - | - |
| PPO (torch) | `t800_walk_flat` (t800 walk flat) | Tested | Registered | - | - | - | - |
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436 changes: 436 additions & 0 deletions src/unilab/assets/robots/microduck/microduck_bam.xml
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30 changes: 30 additions & 0 deletions src/unilab/assets/robots/microduck/scene_flat_bam.xml
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@@ -0,0 +1,30 @@
<mujoco model="microduck bam flat scene">
<include file="microduck_bam.xml"/>

<!-- Solver contract from the upstream microduck_rl recipe (mjlab SimCfg):
implicitfast integrator, Newton solver, 10/20 iteration budgets.
`timestep` stays undeclared: each backend overrides it from `sim_dt`. -->
<option integrator="implicitfast" solver="Newton" cone="pyramidal" iterations="10"
ls_iterations="20" tolerance="1e-8" ls_tolerance="0.01" gravity="0 0 -9.81" impratio="1.0"/>

<statistic center="0 0 0.12" extent="0.5"/>

<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="160" 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 3.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>

</mujoco>
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