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cyy_mac
2026-07-25 13:08:46 +08:00
parent 554d4649c5
commit 1ff59335f5
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23
deploy_45dim_rl_gym/terrains/flat.xml Normal file
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<mujoco model="flat">
<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"/>
<global offwidth="1920" offheight="1080"/>
</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="0.2"/>
<material name="sponge_mat" rgba="0.9 0.9 0.2 1" reflectance="0.1"/>
</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"/>
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_1.xml Normal file
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<mujoco model="obstacle_1">
<!-- Terrain Type: obstacle, Level: 1, Obstacle height: 0.0730, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.036500000000000005" type="box" size="0.5 5.0 0.036500000000000005" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.036500000000000005" type="box" size="0.5 5.0 0.036500000000000005" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.036500000000000005" type="box" size="0.5 5.0 0.036500000000000005" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.036500000000000005" type="box" size="0.5 5.0 0.036500000000000005" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.036500000000000005" type="box" size="0.5 5.0 0.036500000000000005" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_10.xml Normal file
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<mujoco model="obstacle_10">
<!-- Terrain Type: obstacle, Level: 10, Obstacle height: 0.2800, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.14" type="box" size="0.5 5.0 0.14" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.14" type="box" size="0.5 5.0 0.14" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.14" type="box" size="0.5 5.0 0.14" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.14" type="box" size="0.5 5.0 0.14" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.14" type="box" size="0.5 5.0 0.14" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_2.xml Normal file
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<mujoco model="obstacle_2">
<!-- Terrain Type: obstacle, Level: 2, Obstacle height: 0.0960, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.048" type="box" size="0.5 5.0 0.048" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.048" type="box" size="0.5 5.0 0.048" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.048" type="box" size="0.5 5.0 0.048" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.048" type="box" size="0.5 5.0 0.048" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.048" type="box" size="0.5 5.0 0.048" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_3.xml Normal file
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<mujoco model="obstacle_3">
<!-- Terrain Type: obstacle, Level: 3, Obstacle height: 0.1190, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.059500000000000004" type="box" size="0.5 5.0 0.059500000000000004" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.059500000000000004" type="box" size="0.5 5.0 0.059500000000000004" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.059500000000000004" type="box" size="0.5 5.0 0.059500000000000004" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.059500000000000004" type="box" size="0.5 5.0 0.059500000000000004" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.059500000000000004" type="box" size="0.5 5.0 0.059500000000000004" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_4.xml Normal file
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<mujoco model="obstacle_4">
<!-- Terrain Type: obstacle, Level: 4, Obstacle height: 0.1420, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.07100000000000001" type="box" size="0.5 5.0 0.07100000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.07100000000000001" type="box" size="0.5 5.0 0.07100000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.07100000000000001" type="box" size="0.5 5.0 0.07100000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.07100000000000001" type="box" size="0.5 5.0 0.07100000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.07100000000000001" type="box" size="0.5 5.0 0.07100000000000001" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_5.xml Normal file
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<mujoco model="obstacle_5">
<!-- Terrain Type: obstacle, Level: 5, Obstacle height: 0.1650, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.0825" type="box" size="0.5 5.0 0.0825" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.0825" type="box" size="0.5 5.0 0.0825" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.0825" type="box" size="0.5 5.0 0.0825" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.0825" type="box" size="0.5 5.0 0.0825" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.0825" type="box" size="0.5 5.0 0.0825" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_6.xml Normal file
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<mujoco model="obstacle_6">
<!-- Terrain Type: obstacle, Level: 6, Obstacle height: 0.1880, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.094" type="box" size="0.5 5.0 0.094" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.094" type="box" size="0.5 5.0 0.094" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.094" type="box" size="0.5 5.0 0.094" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.094" type="box" size="0.5 5.0 0.094" quat="1.0 0.0 0.0 0.0" />
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</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_7.xml Normal file
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<mujoco model="obstacle_7">
<!-- Terrain Type: obstacle, Level: 7, Obstacle height: 0.2110, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.10550000000000001" type="box" size="0.5 5.0 0.10550000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.10550000000000001" type="box" size="0.5 5.0 0.10550000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.10550000000000001" type="box" size="0.5 5.0 0.10550000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.10550000000000001" type="box" size="0.5 5.0 0.10550000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.10550000000000001" type="box" size="0.5 5.0 0.10550000000000001" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_8.xml Normal file
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<mujoco model="obstacle_8">
<!-- Terrain Type: obstacle, Level: 8, Obstacle height: 0.2340, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.11700000000000002" type="box" size="0.5 5.0 0.11700000000000002" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.11700000000000002" type="box" size="0.5 5.0 0.11700000000000002" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.11700000000000002" type="box" size="0.5 5.0 0.11700000000000002" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.11700000000000002" type="box" size="0.5 5.0 0.11700000000000002" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.11700000000000002" type="box" size="0.5 5.0 0.11700000000000002" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/obstacle/obstacle_9.xml Normal file
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<mujoco model="obstacle_9">
<!-- Terrain Type: obstacle, Level: 9, Obstacle height: 0.2570, length: 1.0000, gap: 1.0000 -->
<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="1.5 0.0 0.1285" type="box" size="0.5 5.0 0.1285" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5 0.0 0.1285" type="box" size="0.5 5.0 0.1285" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.5 0.0 0.1285" type="box" size="0.5 5.0 0.1285" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.5 0.0 0.1285" type="box" size="0.5 5.0 0.1285" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.5 0.0 0.1285" type="box" size="0.5 5.0 0.1285" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>

19
deploy_45dim_rl_gym/terrains/slope/slope_1.xml Normal file
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<mujoco model="slope_1">
<!-- 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" />
<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="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>

19
deploy_45dim_rl_gym/terrains/slope/slope_10.xml Normal file
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<mujoco model="slope_10">
<!-- 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" />
<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="6.047601522004908 0.0 2.4156113649036692" type="box" size="5.755215026391282 5.0 0.5" quat="0.9666377993314406 0.0 -0.25614715478347516 0.0" />
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</mujoco>

19
deploy_45dim_rl_gym/terrains/slope/slope_2.xml Normal file
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<mujoco model="slope_2">
<!-- 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" />
<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="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>

19
deploy_45dim_rl_gym/terrains/slope/slope_3.xml Normal file
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<mujoco model="slope_3">
<!-- 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" />
<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="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>

19
deploy_45dim_rl_gym/terrains/slope/slope_4.xml Normal file
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<mujoco model="slope_4">
<!-- 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" />
<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="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>

19
deploy_45dim_rl_gym/terrains/slope/slope_5.xml Normal file
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<mujoco model="slope_5">
<!-- 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" />
<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="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>

19
deploy_45dim_rl_gym/terrains/slope/slope_6.xml Normal file
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<mujoco model="slope_6">
<!-- 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" />
<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="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>

19
deploy_45dim_rl_gym/terrains/slope/slope_7.xml Normal file
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<mujoco model="slope_7">
<!-- 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" />
<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="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>

19
deploy_45dim_rl_gym/terrains/slope/slope_8.xml Normal file
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<mujoco model="slope_8">
<!-- 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" />
<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="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>

19
deploy_45dim_rl_gym/terrains/slope/slope_9.xml Normal file
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<mujoco model="slope_9">
<!-- 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" />
<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="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>

23
deploy_45dim_rl_gym/terrains/slope_5.xml Normal file
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<!-- slope=0.1+0.8*0.5/0.9=0.54, 28.56 degree -->
<mujoco model="slope_5">
<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" />
<global offwidth="1920" offheight="1080"/>
</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="3.2397127693021015 0.0 0.6538136987423946" type="box" size="2.278987854649098 5.0 0.5" quat="0.9689124217106447 0.0 -0.24740395925452294 0.0" />
</worldbody>
</mujoco>

23
deploy_45dim_rl_gym/terrains/slope_5_old.xml Normal file
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<!-- slope=0.1+0.8*0.5/0.9=0.54, 28.56 degree -->
<mujoco model="slope_5">
<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" />
<global offwidth="1920" offheight="1080"/>
</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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</worldbody>
</mujoco>

51
deploy_45dim_rl_gym/terrains/stairs/stairs_1.xml Normal file
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<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" />
<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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</mujoco>

51
deploy_45dim_rl_gym/terrains/stairs/stairs_10.xml Normal file
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<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" />
<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" />
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<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
deploy_45dim_rl_gym/terrains/stairs/stairs_2.xml Normal file
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@@ -0,0 +1,51 @@
<mujoco model="stairs_2">
<!-- Terrain Type: stairs, Level: 2, Stairs step height: 0.1100 -->
<statistic center="0 0 0.1" extent="0.8" />
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51
deploy_45dim_rl_gym/terrains/stairs/stairs_3.xml Normal file
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@@ -0,0 +1,51 @@
<mujoco model="stairs_3">
<!-- Terrain Type: stairs, Level: 3, Stairs step height: 0.1400 -->
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51
deploy_45dim_rl_gym/terrains/stairs/stairs_4.xml Normal file
View File

@@ -0,0 +1,51 @@
<mujoco model="stairs_4">
<!-- Terrain Type: stairs, Level: 4, Stairs step height: 0.1700 -->
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51
deploy_45dim_rl_gym/terrains/stairs/stairs_5.xml Normal file
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<mujoco model="stairs_5">
<!-- Terrain Type: stairs, Level: 5, Stairs step height: 0.1800 -->
<statistic center="0 0 0.1" extent="0.8" />
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51
deploy_45dim_rl_gym/terrains/stairs/stairs_6.xml Normal file
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<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" />
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51
deploy_45dim_rl_gym/terrains/stairs/stairs_7.xml Normal file
View File

@@ -0,0 +1,51 @@
<mujoco model="stairs_7">
<!-- Terrain Type: stairs, Level: 7, Stairs step height: 0.2000 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
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51
deploy_45dim_rl_gym/terrains/stairs/stairs_8.xml Normal file
View File

@@ -0,0 +1,51 @@
<mujoco model="stairs_8">
<!-- Terrain Type: stairs, Level: 8, Stairs step height: 0.2100 -->
<statistic center="0 0 0.1" extent="0.8" />
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deploy_45dim_rl_gym/terrains/stairs/stairs_9.xml Normal file
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<mujoco model="stairs_9">
<!-- Terrain Type: stairs, Level: 9, Stairs step height: 0.2200 -->
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<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
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deploy_45dim_rl_gym/terrains/wall/10x10_wall.xml Normal file
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<mujoco model="10x10_wall">
<default>
<default class="wall">
<geom rgba="0.8 0.1 0.1 0.5"/>
<!-- <geom rgba="0 0 0 0"/> -->
</default>
</default>
<worldbody>
<geom name="wall_left" type="box" pos="-0.25 0 5" size="0.25 5.5 5" class="wall"/>
<geom name="wall_right" type="box" pos="10.25 0 5" size="0.25 5.5 5" class="wall"/>
<geom name="wall_top" type="box" pos="5 5.25 5" size="5 0.25 5" class="wall"/>
<geom name="wall_bottom" type="box" pos="5 -5.25 5" size="5 0.25 5" class="wall"/>
</worldbody>
</mujoco>

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deploy_45dim_rl_gym/terrains/wave/wave.png Normal file
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deploy_45dim_rl_gym/terrains/wave/wave_1.xml Normal file
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<mujoco model="wave_1">
<!-- Terrain Type: wave, Level: 1, Wave amplitude: 0.0200 -->
<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" />
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<hfield name="wave_hfield" file="wave.png" size="5 5 0.08000000000000002 0.1" />
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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20
deploy_45dim_rl_gym/terrains/wave/wave_10.xml Normal file
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<mujoco model="wave_10">
<!-- Terrain Type: wave, Level: 10, Wave amplitude: 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" />
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deploy_45dim_rl_gym/terrains/wave/wave_2.xml Normal file
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<mujoco model="wave_2">
<!-- Terrain Type: wave, Level: 2, Wave amplitude: 0.0400 -->
<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" />
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deploy_45dim_rl_gym/terrains/wave/wave_3.xml Normal file
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<mujoco model="wave_3">
<!-- Terrain Type: wave, Level: 3, Wave amplitude: 0.0600 -->
<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" />
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deploy_45dim_rl_gym/terrains/wave/wave_4.xml Normal file
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<mujoco model="wave_4">
<!-- Terrain Type: wave, Level: 4, Wave amplitude: 0.0800 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
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deploy_45dim_rl_gym/terrains/wave/wave_5.xml Normal file
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<mujoco model="wave_5">
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<visual>
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deploy_45dim_rl_gym/terrains/wave/wave_6.xml Normal file
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<mujoco model="wave_6">
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deploy_45dim_rl_gym/terrains/wave/wave_7.xml Normal file
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<mujoco model="wave_7">
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deploy_45dim_rl_gym/terrains/wave/wave_8.xml Normal file
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<mujoco model="wave_8">
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deploy_45dim_rl_gym/terrains/wave/wave_9.xml Normal file
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<mujoco model="wave_9">
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<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" />
<hfield name="wave_hfield" file="wave.png" size="5 5 0.7200000000000001 0.1" />
</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 type="hfield" hfield="wave_hfield" pos="5 0 0" rgba="0.5 0.5 0.5 1" />
</worldbody>
</mujoco>