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cyy_mac
2026-07-25 13:08:46 +08:00
parent 554d4649c5
commit 1ff59335f5
61 changed files with 3928 additions and 0 deletions
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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" />
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<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" />
<geom pos="9.5 0.0 0.094" type="box" size="0.5 5.0 0.094" quat="1.0 0.0 0.0 0.0" />
</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>