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v0.1.16; Add StressPipeline

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This commit is contained in:
wty-yy
2025-12-26 14:47:39 +08:00
parent 9d9d83ed9f
commit 65490fe591
31 changed files with 318 additions and 122 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="5.072718512065541 0.0 0.24031624445210087" type="box" size="5.053733768215338 5.0 0.5" quat="0.9973383355451144 0.0 -0.07291258089041118 0.0" />
<geom pos="5.872718512065541 0.0 0.24031624445210087" type="box" size="5.053733768215338 5.0 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="5.247601522004908 0.0 2.4156113649036692" type="box" size="5.755215026391282 5.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
<geom pos="6.047601522004908 0.0 2.4156113649036692" type="box" size="5.755215026391282 5.0 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="5.095224613549555 0.0 0.47915147654868323" type="box" size="5.093220984799305 5.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080826 0.0" />
<geom pos="5.895224613549555 0.0 0.47915147654868323" type="box" size="5.093220984799305 5.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080826 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="5.117146033713849 0.0 0.7189168725566442" type="box" size="5.143153215683935 5.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300112 0.0" />
<geom pos="5.917146033713848 0.0 0.7189168725566442" type="box" size="5.143153215683935 5.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300112 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="5.138375592151506 0.0 0.9595291939183819" type="box" size="5.20322976621252 5.0 0.5" quat="0.9901872580889023 0.0 -0.13974689233890575 0.0" />
<geom pos="5.938375592151506 0.0 0.9595291939183819" type="box" size="5.20322976621252 5.0 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="5.1588248614041845 0.0 1.2008959361069116" type="box" size="5.273103924634901 5.0 0.5" quat="0.9869671037542681 0.0 -0.16092214299751198 0.0" />
<geom pos="5.958824861404184 0.0 1.2008959361069116" type="box" size="5.273103924634901 5.0 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="5.178424899003636 0.0 1.4429191125559275" type="box" size="5.352391988634614 5.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863425 0.0" />
<geom pos="5.9784248990036355 0.0 1.4429191125559275" type="box" size="5.352391988634614 5.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863425 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="5.197126007501461 0.0 1.685498817012911" type="box" size="5.440682402052154 5.0 0.5" quat="0.9795413125474028 0.0 -0.20124317879846595 0.0" />
<geom pos="5.9971260075014605 0.0 1.685498817012911" type="box" size="5.440682402052154 5.0 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="5.2148966897390405 0.0 1.9285363660944521" type="box" size="5.537544582213312 5.0 0.5" quat="0.9754299738605267 0.0 -0.22030970494840266 0.0" />
<geom pos="6.01489668973904 0.0 1.9285363660944521" type="box" size="5.537544582213312 5.0 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="5.231722002936844 0.0 2.17193689687028" type="box" size="5.642537106656898 5.0 0.5" quat="0.9711143615093542 0.0 -0.23861453616718223 0.0" />
<geom pos="6.031722002936844 0.0 2.17193689687028" type="box" size="5.642537106656898 5.0 0.5" quat="0.9711143615093542 0.0 -0.23861453616718223 0.0" />
</worldbody>
</mujoco>