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v1.0.0

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wty-yy
2025-12-29 23:41:09 +08:00
parent c28bb64b0a
commit 587d014683
44 changed files with 196 additions and 714 deletions
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4
resources/terrains/stairs_up/stairs_up_1.xml → resources/terrains/stairs/stairs_1.xml
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@@ -1,5 +1,5 @@
<mujoco model="stairs_up_1">
<!-- Terrain Type: stairs_up, Level: 1, Stairs step height: 0.0800 -->
<mujoco model="stairs_1">
<!-- Terrain Type: stairs, Level: 1, Stairs step height: 0.0800 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_10.xml → resources/terrains/stairs/stairs_10.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_10">
<!-- Terrain Type: stairs_up, Level: 10, Stairs step height: 0.2300 -->
<mujoco model="stairs_10">
<!-- Terrain Type: stairs, Level: 10, Stairs step height: 0.2300 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_2.xml → resources/terrains/stairs/stairs_2.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_2">
<!-- Terrain Type: stairs_up, Level: 2, Stairs step height: 0.1100 -->
<mujoco model="stairs_2">
<!-- Terrain Type: stairs, Level: 2, Stairs step height: 0.1100 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_3.xml → resources/terrains/stairs/stairs_3.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_3">
<!-- Terrain Type: stairs_up, Level: 3, Stairs step height: 0.1400 -->
<mujoco model="stairs_3">
<!-- Terrain Type: stairs, Level: 3, Stairs step height: 0.1400 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_4.xml → resources/terrains/stairs/stairs_4.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_4">
<!-- Terrain Type: stairs_up, Level: 4, Stairs step height: 0.1700 -->
<mujoco model="stairs_4">
<!-- Terrain Type: stairs, Level: 4, Stairs step height: 0.1700 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_5.xml → resources/terrains/stairs/stairs_5.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_5">
<!-- Terrain Type: stairs_up, Level: 5, Stairs step height: 0.1800 -->
<mujoco model="stairs_5">
<!-- Terrain Type: stairs, Level: 5, Stairs step height: 0.1800 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_6.xml → resources/terrains/stairs/stairs_6.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_6">
<!-- Terrain Type: stairs_up, Level: 6, Stairs step height: 0.1900 -->
<mujoco model="stairs_6">
<!-- Terrain Type: stairs, Level: 6, Stairs step height: 0.1900 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_7.xml → resources/terrains/stairs/stairs_7.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_7">
<!-- Terrain Type: stairs_up, Level: 7, Stairs step height: 0.2000 -->
<mujoco model="stairs_7">
<!-- Terrain Type: stairs, Level: 7, Stairs step height: 0.2000 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_8.xml → resources/terrains/stairs/stairs_8.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_8">
<!-- Terrain Type: stairs_up, Level: 8, Stairs step height: 0.2100 -->
<mujoco model="stairs_8">
<!-- Terrain Type: stairs, Level: 8, Stairs step height: 0.2100 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

4
resources/terrains/stairs_up/stairs_up_9.xml → resources/terrains/stairs/stairs_9.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="stairs_up_9">
<!-- Terrain Type: stairs_up, Level: 9, Stairs step height: 0.2200 -->
<mujoco model="stairs_9">
<!-- Terrain Type: stairs, Level: 9, Stairs step height: 0.2200 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

51
resources/terrains/stairs_down/stairs_down_1.xml
View File

@@ -1,51 +0,0 @@
<mujoco model="stairs_down_1">
<!-- Terrain Type: stairs_down, Level: 1, Stairs step height: 0.0800 -->
<statistic center="0 0 0.1" extent="0.8" />
<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="-130" 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="0.0" />
</asset>
<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="0.155 0.0 2.6" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.46499999999999997 0.0 2.52" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.7749999999999999 0.0 2.44" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
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<geom pos="9.454999999999998 0.0 0.19999999999999896" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.764999999999999 0.0 0.11999999999999895" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="10.075 0.0 0.03999999999999895" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

51
resources/terrains/stairs_down/stairs_down_10.xml
View File

@@ -1,51 +0,0 @@
<mujoco model="stairs_down_10">
<!-- Terrain Type: stairs_down, Level: 10, Stairs step height: 0.2300 -->
<statistic center="0 0 0.1" extent="0.8" />
<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="-130" 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="0.0" />
</asset>
<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="0.155 0.0 7.4750000000000005" type="box" size="0.186 5.0 0.115" quat="1.0 0.0 0.0 0.0" />
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</worldbody>
</mujoco>

51
resources/terrains/stairs_down/stairs_down_2.xml
View File

@@ -1,51 +0,0 @@
<mujoco model="stairs_down_2">
<!-- Terrain Type: stairs_down, Level: 2, Stairs step height: 0.1100 -->
<statistic center="0 0 0.1" extent="0.8" />
<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="-130" 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="0.0" />
</asset>
<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" />
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51
resources/terrains/stairs_down/stairs_down_3.xml
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@@ -1,51 +0,0 @@
<mujoco model="stairs_down_3">
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51
resources/terrains/stairs_down/stairs_down_4.xml
View File

@@ -1,51 +0,0 @@
<mujoco model="stairs_down_4">
<!-- Terrain Type: stairs_down, Level: 4, Stairs step height: 0.1700 -->
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51
resources/terrains/stairs_down/stairs_down_5.xml
View File

@@ -1,51 +0,0 @@
<mujoco model="stairs_down_5">
<!-- Terrain Type: stairs_down, Level: 5, Stairs step height: 0.1800 -->
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51
resources/terrains/stairs_down/stairs_down_6.xml
View File

@@ -1,51 +0,0 @@
<mujoco model="stairs_down_6">
<!-- Terrain Type: stairs_down, Level: 6, Stairs step height: 0.1900 -->
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51
resources/terrains/stairs_down/stairs_down_7.xml
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@@ -1,51 +0,0 @@
<mujoco model="stairs_down_7">
<!-- Terrain Type: stairs_down, Level: 7, Stairs step height: 0.2000 -->
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51
resources/terrains/stairs_down/stairs_down_8.xml
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@@ -1,51 +0,0 @@
<mujoco model="stairs_down_8">
<!-- Terrain Type: stairs_down, Level: 8, Stairs step height: 0.2100 -->
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51
resources/terrains/stairs_down/stairs_down_9.xml
View File

@@ -1,51 +0,0 @@
<mujoco model="stairs_down_9">
<!-- Terrain Type: stairs_down, Level: 9, Stairs step height: 0.2200 -->
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