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v0.1.15; add stairs_up/down

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wty-yy
2025-12-25 18:15:48 +08:00
parent 0dd3c10aba
commit 9d9d83ed9f
54 changed files with 1356 additions and 81 deletions
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4
resources/terrains/slope/slope_1.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_1">
<!-- Terrain Type: slope, Level: 1 Slope angle (degrees): 8.3626 -->
<!-- Terrain Type: slope, Level: 1, Slope angle (degrees): 8.3626 -->
<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" />
@@ -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 0.09331624445210085" type="box" size="4.042987014572271 3.0 0.5" quat="0.9973383355451144 0.0 -0.07291258089041118 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_10.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_10">
<!-- Terrain Type: slope, Level: 10 Slope angle (degrees): 29.6831 -->
<!-- Terrain Type: slope, Level: 10, Slope angle (degrees): 29.6831 -->
<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" />
@@ -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 1.8456113649036694" type="box" size="4.604172021113025 3.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_2.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_2">
<!-- Terrain Type: slope, Level: 2 Slope angle (degrees): 10.9790 -->
<!-- Terrain Type: slope, Level: 2, Slope angle (degrees): 10.9790 -->
<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" />
@@ -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 0.2851514765486833" type="box" size="4.074576787839444 3.0 0.5" quat="0.9954137448575425 0.0 -0.09566335008080827 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_3.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_3">
<!-- Terrain Type: slope, Level: 3 Slope angle (degrees): 13.5499 -->
<!-- Terrain Type: slope, Level: 3, Slope angle (degrees): 13.5499 -->
<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" />
@@ -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 0.47791687255664406" type="box" size="4.114522572547148 3.0 0.5" quat="0.9930171838610629 0.0 -0.11796979510300111 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_4.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_4">
<!-- Terrain Type: slope, Level: 4 Slope angle (degrees): 16.0664 -->
<!-- Terrain Type: slope, Level: 4, Slope angle (degrees): 16.0664 -->
<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" />
@@ -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 0.6715291939183818" type="box" size="4.162583812970016 3.0 0.5" quat="0.9901872580889023 0.0 -0.13974689233890575 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_5.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_5">
<!-- Terrain Type: slope, Level: 5 Slope angle (degrees): 18.5208 -->
<!-- Terrain Type: slope, Level: 5, Slope angle (degrees): 18.5208 -->
<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" />
@@ -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 0.8658959361069116" type="box" size="4.218483139707921 3.0 0.5" quat="0.9869671037542681 0.0 -0.16092214299751198 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_6.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_6">
<!-- Terrain Type: slope, Level: 6 Slope angle (degrees): 20.9069 -->
<!-- Terrain Type: slope, Level: 6, Slope angle (degrees): 20.9069 -->
<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" />
@@ -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 1.0609191125559274" type="box" size="4.281913590907691 3.0 0.5" quat="0.9834027086824972 0.0 -0.18143624928863422 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_7.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_7">
<!-- Terrain Type: slope, Level: 7 Slope angle (degrees): 23.2193 -->
<!-- Terrain Type: slope, Level: 7, Slope angle (degrees): 23.2193 -->
<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" />
@@ -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 1.2564988170129112" type="box" size="4.352545921641723 3.0 0.5" quat="0.9795413125474028 0.0 -0.20124317879846595 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_8.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_8">
<!-- Terrain Type: slope, Level: 8 Slope angle (degrees): 25.4544 -->
<!-- Terrain Type: slope, Level: 8, Slope angle (degrees): 25.4544 -->
<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" />
@@ -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 1.4525363660944521" type="box" size="4.4300356657706494 3.0 0.5" quat="0.9754299738605267 0.0 -0.22030970494840266 0.0" />
<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" />
</worldbody>
</mujoco>

4
resources/terrains/slope/slope_9.xml
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@@ -1,5 +1,5 @@
<mujoco model="slope_9">
<!-- Terrain Type: slope, Level: 9 Slope angle (degrees): 27.6096 -->
<!-- Terrain Type: slope, Level: 9, Slope angle (degrees): 27.6096 -->
<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" />
@@ -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 1.6489368968702796" type="box" size="4.514029685325518 3.0 0.5" quat="0.9711143615093542 0.0 -0.2386145361671822 0.0" />
<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" />
</worldbody>
</mujoco>