cyy/Motrixlab
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add closed-loop DreamWaQ stair validation

Browse Source
This commit is contained in:
8x54zj-m
2026-07-22 02:36:36 +08:00
parent 9cdf59a99d
commit 660393a9ee
4 changed files with 451 additions and 236 deletions
Download Patch File Download Diff File Expand all files Collapse all files

59
scripts/gen_stairs_box.py
View File

@@ -1,7 +1,8 @@
#!/usr/bin/env python3
"""Generate box-geom stairs XML for MuJoCo sim2sim.
"""Generate symmetric box-geom stairs XML for MuJoCo sim2sim.
Each step is a separate box with vertical rises — much steeper than hfield.
The course is a flat approach, ascending stairs, a top platform, and matching
descending stairs. Each tread is a solid box rising from the ground.
Usage:
uv run scripts/gen_stairs_box.py # default: 10 steps × 6cm = 60cm
@@ -31,15 +32,12 @@ TPL = '''<mujoco model="go1 box stairs scene">
material="motphys-ground" contype="1" conaffinity="0" priority="0" friction="0.6" />
{steps}
<!-- Fill under stairs -->
<geom name="fill" type="box" size="{fill_sx} 10 {fill_sz}" pos="{fill_x} 0 {fill_z}" rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
</worldbody>
</mujoco>
'''
STEP_TPL = ' <geom name="step{n}" type="box" size="{sx} 10 {sz}" pos="{x} 0 {z}" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>\n'
PLAT_TPL = ' <geom name="platform" type="box" size="{sx} 10 {sz}" pos="{x} 0 {z}" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>\n'
STEP_TPL = ' <geom name="{name}" type="box" size="{sx:.6g} 10 {sz:.6g}" pos="{x:.6g} 0 {z:.6g}" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>\n'
PLAT_TPL = ' <geom name="platform" type="box" size="{sx:.6g} 10 {sz:.6g}" pos="{x:.6g} 0 {z:.6g}" rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>\n'
def main():
@@ -47,36 +45,41 @@ def main():
p.add_argument("--step-height", type=float, default=0.06, help="rise per step [m]")
p.add_argument("--step-depth", type=float, default=0.30, help="tread depth per step [m]")
p.add_argument("--num-steps", type=int, default=10, help="number of steps")
p.add_argument("--box-thickness", type=float, default=0.03, help="box half-height [m]")
p.add_argument("--platform-depth", type=float, default=1.0, help="top platform depth [m]")
args = p.parse_args()
h = args.step_height
d = args.step_depth
n = args.num_steps
sz = args.box_thickness # half-height of each box
platform_depth = args.platform_depth
steps_xml = ""
for i in range(n):
x = i * d
z = i * h + sz # center of box = step top surface - sz
steps_xml += STEP_TPL.format(n=i, sx=d/2, sz=sz, x=x, z=z)
top = (i + 1) * h
steps_xml += STEP_TPL.format(
name=f"step_up_{i}", sx=d / 2, sz=top / 2,
x=(i + 0.5) * d, z=top / 2,
)
# Platform at top
plat_x = n * d + 0.5
plat_z = n * h + sz
steps_xml += PLAT_TPL.format(sx=0.5, sz=sz, x=plat_x, z=plat_z)
# Fill box under stairs
total_depth = n * d
total_height = n * h
fill_sx = total_depth / 2
fill_sz = total_height / 2
fill_x = total_depth / 2
fill_z = -fill_sz
platform_start = n * d
platform_end = platform_start + platform_depth
steps_xml += PLAT_TPL.format(
sx=platform_depth / 2, sz=total_height / 2,
x=platform_start + platform_depth / 2, z=total_height / 2,
)
out = TPL.format(steps=steps_xml.rstrip(),
fill_sx=fill_sx, fill_sz=fill_sz,
fill_x=fill_x, fill_z=fill_z)
for i in range(n):
top = (n - i - 1) * h
if top <= 0:
continue
steps_xml += STEP_TPL.format(
name=f"step_down_{i}", sx=d / 2, sz=top / 2,
x=platform_end + (i + 0.5) * d, z=top / 2,
)
out = TPL.format(steps=steps_xml.rstrip())
out_dir = os.path.join(os.path.dirname(__file__), "..",
"motrix_envs", "src", "motrix_envs", "locomotion",
@@ -86,8 +89,10 @@ def main():
f.write(out)
max_h = n * h
print(f"Generated {n} steps × {h*100:.0f}cm = {max_h*100:.0f}cm total")
print(f" step depth: {d*100:.0f}cm box thickness: {sz*200:.0f}cm")
finish_x = platform_end + n * d
print(f"Generated {n} steps up/down x {h*100:.0f}cm = {max_h*100:.0f}cm total")
print(f" step depth: {d*100:.0f}cm platform: {platform_depth:.2f}m")
print(f" course: x=0.00m to x={finish_x:.2f}m")
print(f" saved: {out_path}")