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

v1.0.0

Browse Source
This commit is contained in:
wty-yy
2025-12-29 23:41:09 +08:00
parent c28bb64b0a
commit 587d014683
44 changed files with 196 additions and 714 deletions
Download Patch File Download Diff File Expand all files Collapse all files

51
resources/terrains/stairs/stairs_3.xml Normal file
View File

@@ -0,0 +1,51 @@
<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" />
<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 0.07" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.46499999999999997 0.0 0.21000000000000002" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.7749999999999999 0.0 0.35000000000000003" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.085 0.0 0.49000000000000005" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.395 0.0 0.6300000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.705 0.0 0.7700000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.015 0.0 0.9100000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.325 0.0 1.0500000000000003" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.6350000000000002 0.0 1.1900000000000004" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.9450000000000003 0.0 1.3300000000000005" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.2550000000000003 0.0 1.4700000000000006" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5650000000000004 0.0 1.6100000000000008" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.8750000000000004 0.0 1.7500000000000009" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="4.1850000000000005 0.0 1.890000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="4.495 0.0 2.030000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="4.805 0.0 2.1700000000000013" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.114999999999999 0.0 2.3100000000000014" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.424999999999999 0.0 2.4500000000000015" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.7349999999999985 0.0 2.5900000000000016" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.044999999999998 0.0 2.7300000000000018" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.354999999999998 0.0 2.870000000000002" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.664999999999997 0.0 3.010000000000002" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.974999999999997 0.0 3.150000000000002" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.284999999999997 0.0 3.2900000000000023" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.594999999999996 0.0 3.4300000000000024" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.904999999999996 0.0 3.5700000000000025" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.214999999999996 0.0 3.7100000000000026" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.524999999999997 0.0 3.8500000000000028" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.834999999999997 0.0 3.990000000000003" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.144999999999998 0.0 4.130000000000003" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.454999999999998 0.0 4.270000000000002" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.764999999999999 0.0 4.410000000000002" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="10.075 0.0 4.550000000000002" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>