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v0.1.13; add 2.5 rad trunctation; add LevelPipeline binary search maximum terrain levels

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This commit is contained in:
wty-yy
2025-12-22 22:57:20 +08:00
parent 6bbdceee2f
commit 50126ec9aa
24 changed files with 144 additions and 22 deletions
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2
resources/terrains/slope/slope_1.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.072718512065541 0.0 -0.2006837555478992" type="box" size="2.0214935072861353 5.0 0.5" quat="0.9973383355451144 0.0 -0.07291258089041118 0.0" />
<geom pos="5.072718512065541 0.0 0.09331624445210085" type="box" size="4.042987014572271 3.0 0.5" quat="0.9973383355451144 0.0 -0.07291258089041118 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_10.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.247601522004908 0.0 0.7056113649036695" type="box" size="2.3020860105565126 5.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
<geom pos="5.247601522004908 0.0 1.8456113649036694" type="box" size="4.604172021113025 3.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_2.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.0952246135495556 0.0 -0.10284852345131673" type="box" size="2.037288393919722 5.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080827 0.0" />
<geom pos="5.095224613549555 0.0 0.2851514765486833" type="box" size="4.074576787839444 3.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080827 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_3.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.1171460337138486 0.0 -0.004083127443355927" type="box" size="2.057261286273574 5.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300111 0.0" />
<geom pos="5.117146033713849 0.0 0.47791687255664406" type="box" size="4.114522572547148 3.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300111 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_4.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.138375592151506 0.0 0.09552919391838177" type="box" size="2.081291906485008 5.0 0.5" quat="0.9901872580889023 0.0 -0.13974689233890575 0.0" />
<geom pos="5.138375592151506 0.0 0.6715291939183818" type="box" size="4.162583812970016 3.0 0.5" quat="0.9901872580889023 0.0 -0.13974689233890575 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_5.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.1588248614041845 0.0 0.19589593610691164" type="box" size="2.1092415698539604 5.0 0.5" quat="0.9869671037542681 0.0 -0.16092214299751198 0.0" />
<geom pos="5.1588248614041845 0.0 0.8658959361069116" type="box" size="4.218483139707921 3.0 0.5" quat="0.9869671037542681 0.0 -0.16092214299751198 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_6.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.1784248990036357 0.0 0.29691911255592746" type="box" size="2.1409567954538455 5.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863422 0.0" />
<geom pos="5.178424899003636 0.0 1.0609191125559274" type="box" size="4.281913590907691 3.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863422 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_7.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.197126007501461 0.0 0.39849881701291123" type="box" size="2.1762729608208615 5.0 0.5" quat="0.9795413125474028 0.0 -0.20124317879846595 0.0" />
<geom pos="5.197126007501461 0.0 1.2564988170129112" type="box" size="4.352545921641723 3.0 0.5" quat="0.9795413125474028 0.0 -0.20124317879846595 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_8.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.2148966897390405 0.0 0.5005363660944522" type="box" size="2.2150178328853247 5.0 0.5" quat="0.9754299738605267 0.0 -0.22030970494840266 0.0" />
<geom pos="5.2148966897390405 0.0 1.4525363660944521" type="box" size="4.4300356657706494 3.0 0.5" quat="0.9754299738605267 0.0 -0.22030970494840266 0.0" />
</worldbody>
</mujoco>

2
resources/terrains/slope/slope_9.xml
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@@ -14,6 +14,6 @@
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="3.2317220029368436 0.0 0.6029368968702795" type="box" size="2.257014842662759 5.0 0.5" quat="0.9711143615093542 0.0 -0.2386145361671822 0.0" />
<geom pos="5.231722002936844 0.0 1.6489368968702796" type="box" size="4.514029685325518 3.0 0.5" quat="0.9711143615093542 0.0 -0.2386145361671822 0.0" />
</worldbody>
</mujoco>