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Balanceball #2

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9906166
Balancing (static config)
ThisisTerrencesAc Nov 8, 2025
f3fae4f
implemented PID on balanceball but the ball levitates when I automate…
ThisisTerrencesAc Nov 11, 2025
dcff867
slightly tuned PID, auto applying PID
SaturnX77 Nov 11, 2025
6fc1117
i beat chatgpt into making this sim
SaturnX77 Nov 11, 2025
7d672c1
working sim!
HanF12 Nov 13, 2025
3c164c3
added texture to chassis + force random
SaturnX77 Nov 14, 2025
3e4b776
3 motor balance update
SaturnX77 Nov 22, 2025
0968425
new sim with link
HanF12 Nov 23, 2025
ac92bf0
Merge branch 'balanceball' of https://github.com/UCLAX1/B_Cubed into …
HanF12 Nov 23, 2025
a545f57
added gyro to xml, mujoco viewer prints out gyro data
HanF12 Dec 4, 2025
6abd662
fixed instant PID blow up
ThisisTerrencesAc Dec 4, 2025
a77fbbb
slight alterations to balanceball
ThisisTerrencesAc Dec 4, 2025
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1 change: 1 addition & 0 deletions .gitignore
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Expand Up @@ -222,3 +222,4 @@ cython_debug/
marimo/_static/
marimo/_lsp/
__marimo__/
sim/new_pid_sim/MUJOCO_LOG.TXT
37 changes: 0 additions & 37 deletions object_detection/detect_people.py
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51 changes: 0 additions & 51 deletions object_detection/hand-keypoints.yaml
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6 changes: 0 additions & 6 deletions object_detection/hand_gestures.py
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Binary file removed object_detection/yolo11n-pose.pt
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Binary file removed object_detection/yolo11n.pt
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156 changes: 156 additions & 0 deletions sim/MUJOCO_LOG.TXT
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Sat Nov 1 14:16:16 2025
WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 12.7480.

Sat Nov 1 14:17:49 2025
WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 12.7480.

Sat Nov 1 15:20:20 2025
WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 26.1140.

Mon Nov 10 22:24:03 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 22:27:08 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 22:33:33 2025
WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 22:43:02 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0020.

Mon Nov 10 22:46:54 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0880.

Mon Nov 10 22:52:32 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 5.9620.

Mon Nov 10 22:55:47 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 22:56:04 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 22:58:18 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 22:59:54 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0940.

Mon Nov 10 23:01:10 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0860.

Mon Nov 10 23:01:50 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:06:35 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:06:52 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:09:48 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:13:43 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:14:55 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:15:42 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:16:41 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:18:52 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:19:37 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:22:40 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:24:09 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:24:59 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:25:18 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:25:54 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:27:10 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:30:26 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:32:49 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:33:02 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:39:15 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.1020.

Mon Nov 10 23:39:40 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0860.

Mon Nov 10 23:41:11 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:41:23 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:49:17 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:49:47 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:50:43 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:51:17 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:52:48 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Mon Nov 10 23:53:26 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Tue Nov 11 00:01:03 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0860.

Tue Nov 11 00:01:51 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0860.

Tue Nov 11 00:02:21 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0860.

Tue Nov 11 00:02:55 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Tue Nov 11 00:03:04 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0860.

Tue Nov 11 00:03:11 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0860.

Tue Nov 11 00:03:20 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0860.

Tue Nov 11 00:08:17 2025
WARNING: Nan, Inf or huge value in QVEL at DOF 0. The simulation is unstable. Time = 0.0000.

Tue Nov 11 00:10:47 2025
WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.0000.

79 changes: 79 additions & 0 deletions sim/balance_non_collidable_joint.xml
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<mujoco>
<option gravity="0 0 -9.81" timestep="0.002"/>


<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".0"/>
<material name="sphere_mat" rgba="1 0.6 0 0.3"/>
<material name="link_mat" rgba="0.5 0.5 0.5 1"/>
<material name="box_mat" rgba="1 1 1 0.3"/>
<texture name="bb8_tex" type="2d" file="bb8_textures/bb8one.png"/>
<material name="bb8_mat" texture="bb8_tex" texrepeat="1 1" texuniform="false"/>
</asset>

<worldbody>
<!-- Grid floor -->
<geom name="floor" size="10 10 .05" type="plane" material="grid" friction="3.0 1.5 0.5"/>

<!-- Lighting -->
<light name="spotlight" mode="targetbodycom" target="sphere_body" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
<light name="top" pos="0 0 5" mode="trackcom"/>
<light name="side1" pos="5 0 2" dir="-1 0 0" diffuse=".5 .5 .5"/>
<light name="side2" pos="-5 0 2" dir="1 0 0" diffuse=".5 .5 .5"/>

<!-- sphere_body stays as-is (has free joint) -->
<body name="sphere_body" pos="0 0 0.5">
<joint name="sphere_free" type="free"/>
<<<<<<< HEAD
<geom name="sphere" type="sphere" size="0.253" material="box_mat" mass="8" contype="1" conaffinity="1" friction="1 1 0.1"/>
=======
<geom name="sphere" type="sphere" size="0.253" material="sphere_mat" mass="8" contype="1" conaffinity="1" />
>>>>>>> a545f57da1517ec3c9122fec6b64c808fe8188c4
<site name="sphere_center" pos="0 0 0" size="0.01" rgba="1 0 0 0.8"/>
</body>

<!-- link is a top-level body (sibling of sphere_body) -->
<body name="link_body" pos="0 0 0.5">
<!-- free so it can rotate — equality will enforce position -->
<joint name="link_free" type="free"/>
<!-- geom placed so link_bottom site is at the joint center (adjust pos as needed) -->
<geom name="link" type="cylinder" size="0.01 0.1265" pos="0 0 0" material="link_mat" mass="0.8" contype="0" conaffinity="0"/>
<site name="link_bottom" pos="0 0 -0.1265" size="0.01" rgba="0 1 0 0.8"/>
<site name="link_top" pos="0 0 0.1265" size="0.01" rgba="0 1 0 0.8"/>

<body name="box_weight" pos="0 0 -0.25">
<geom name="box_weight" type="box" size="0.1 0.1 0.08" material="box_mat" mass="0.001" contype="0" conaffinity="0"/>
<site name="box_weight_top" pos="0 0 0.08" size="0.01" rgba="1 0 0 0.8"/>
</body>

<!-- head (box) attached to link via a joint so it's free relative to the link -->
<body name="box_body" pos="0 0 0.2065">
<!-- ball joint gives 3 rotational DOF for the head relative to the link -->
<joint name="head_joint" type="ball"/>
<<<<<<< HEAD
<geom name="box" type="box" size="0.14 0.14 0.08" material="box_mat" mass="2" contype="1" conaffinity="1" friction="1 1 0.1"/>
=======
<geom name="box" type="box" size="0.14 0.14 0.08" material="box_mat" mass="2" contype="1" conaffinity="1"/>
>>>>>>> a545f57da1517ec3c9122fec6b64c808fe8188c4
<site name="box_bottom" pos="0 0 -0.08" size="0.01" rgba="0 1 0 0.8"/>
</body>

</body>

</worldbody>

<sensor>
<gyro name="box_weight_gyro_top" site="box_weight_top"/>
</sensor>

<equality>
<!-- keep link_bottom coincident with sphere_center (position constraint only) -->
<connect name="link_to_sphere" site1="sphere_center" site2="link_bottom"/>
<!-- if you want the box_bottom to coincide with link_top (may be redundant because box is child) -->
<connect name="link_to_box" site1="box_bottom" site2="link_top"/>
</equality>

</mujoco>

28 changes: 28 additions & 0 deletions sim/balanceball.xml
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<mujoco>
<option gravity="0 0 -9.80" timestep="0.002"/>
<size nstack="5000"/>

<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<texture name='highlight' type='2d' builtin='gradient' rgb1='255 255 255' rgb2='255 255 255' width='512' height='512'/>
<material name='ball' texture='highlight' texrepeat='1 1' texuniform='true'/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".0"/>
</asset>

<worldbody>
<geom name="floor" size="10 10 .05" type="plane" material="grid" friction="3.0 1.5 0.5"/>
<light name="spotlight" mode="targetbodycom" target="bb8" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
<light name="top" pos="0 0 2" mode="trackcom"/>

<body name='bb8' pos="0 0 1">
<joint name='bb8_free' type="free"/>
<geom name="bb8" type="sphere" size=".1" rgba="1 0.6 0 1" mass="2.0"/>

<body name="head" pos="0 0 0.16">
<joint name="head_joint"/>
<geom name="head_geom" type="box" size=".06 .06 .06" rgba="1 1 1 1" mass="0.3"/>
</body>
</body>
</worldbody>
</mujoco>
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