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Add closed-loop DreamWaQ stair validation

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8x54zj-m
2026-07-22 02:36:36 +08:00
parent 9cdf59a99d
commit 660393a9ee
4 changed files with 451 additions and 236 deletions
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34
motrix_envs/src/motrix_envs/locomotion/go1/xmls/scene_stairs_box.xml
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@@ -18,19 +18,25 @@
<geom name="floor" pos="0 0 -0.001" size="0 0 0.001" type="plane"
material="motphys-ground" contype="1" conaffinity="0" priority="0" friction="0.6" />
<geom name="step0" type="box" size="0.15 10 0.03" pos="0.0 0 0.03" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step1" type="box" size="0.15 10 0.03" pos="0.3 0 0.09" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step2" type="box" size="0.15 10 0.03" pos="0.6 0 0.15" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step3" type="box" size="0.15 10 0.03" pos="0.8999999999999999 0 0.21" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step4" type="box" size="0.15 10 0.03" pos="1.2 0 0.27" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step5" type="box" size="0.15 10 0.03" pos="1.5 0 0.32999999999999996" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step6" type="box" size="0.15 10 0.03" pos="1.7999999999999998 0 0.39" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step7" type="box" size="0.15 10 0.03" pos="2.1 0 0.44999999999999996" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step8" type="box" size="0.15 10 0.03" pos="2.4 0 0.51" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step9" type="box" size="0.15 10 0.03" pos="2.6999999999999997 0 0.5700000000000001" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="platform" type="box" size="0.5 10 0.03" pos="3.5 0 0.63" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<!-- Fill under stairs -->
<geom name="fill" type="box" size="1.5 10 0.3" pos="1.5 0 -0.3" rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_0" type="box" size="0.15 10 0.03" pos="0.15 0 0.03" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_1" type="box" size="0.15 10 0.06" pos="0.45 0 0.06" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_2" type="box" size="0.15 10 0.09" pos="0.75 0 0.09" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_3" type="box" size="0.15 10 0.12" pos="1.05 0 0.12" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_4" type="box" size="0.15 10 0.15" pos="1.35 0 0.15" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_5" type="box" size="0.15 10 0.18" pos="1.65 0 0.18" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_6" type="box" size="0.15 10 0.21" pos="1.95 0 0.21" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_7" type="box" size="0.15 10 0.24" pos="2.25 0 0.24" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_8" type="box" size="0.15 10 0.27" pos="2.55 0 0.27" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_up_9" type="box" size="0.15 10 0.3" pos="2.85 0 0.3" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="platform" type="box" size="0.5 10 0.3" pos="3.5 0 0.3" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_0" type="box" size="0.15 10 0.27" pos="4.15 0 0.27" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_1" type="box" size="0.15 10 0.24" pos="4.45 0 0.24" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_2" type="box" size="0.15 10 0.21" pos="4.75 0 0.21" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_3" type="box" size="0.15 10 0.18" pos="5.05 0 0.18" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_4" type="box" size="0.15 10 0.15" pos="5.35 0 0.15" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_5" type="box" size="0.15 10 0.12" pos="5.65 0 0.12" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_6" type="box" size="0.15 10 0.09" pos="5.95 0 0.09" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_7" type="box" size="0.15 10 0.06" pos="6.25 0 0.06" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name="step_down_8" type="box" size="0.15 10 0.03" pos="6.55 0 0.03" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
</worldbody>
</mujoco>