moe-cts-部署

deploy_45dim_rl_gym/README.md

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+# Go1 RL-Gym 45 维部署说明
+
+本目录包含：
+
+- `policy_15k.onnx`：RoboGauge Go1 RL-Gym 的 ONNX 策略
+- `deploy_go1_onnx_mujoco.py`：MuJoCo 调试脚本
+- `deploy_go1_rlgym_pro_sdk.py`：真机 Go1 PRO 低层部署脚本
+
+该 ONNX 策略使用 45 维单帧观测，以及 5 帧、共 225 维的历史输入，按观测项分组堆叠：
+
+```text
+[角速度历史, 重力投影历史, 指令历史, 关节位置历史, 关节速度历史, 上一动作历史]
+```
+
+关节顺序为 `FR, FL, RR, RL`，与 `go1_pro_sdk` 的电机顺序一致。
+
+## 安全说明
+
+直接低层控电机是危险操作。
+
+- 第一次测试必须悬空
+- 低层控制前先杀掉 sport 进程
+- sport 被杀后，要保留拔电池作为最终停机手段
+- 真机状态机中，`L2` 会返回 `IDLE` 阻尼
+- `Ctrl+C` 会通过 `safe_stop()` 退出
+- 只有显式加 `--enable-rl` 才允许真正进入 RL 发电机目标
+- 脚本启动连接 MCU 前会自动检查 SDK 电机顺序是否为 `FR, FL, RR, RL`
+- 遥控器速度指令默认只保留 deadzone，不再做低通和变化率限制；日志中仍会同时保存原始 `commands_raw` 和实际输入策略的 `commands`
+- RL 刚进入时会先 warmup，只预热观测历史和动作历史；warmup 期间仍保持默认站姿，结束后再按 `max_target_step` 从默认站姿逐步进入 RL 目标
+
+## 环境准备
+
+```bash
+cd /Users/chenyouyuan/cyy_ws/deploy_go1_pro
+conda activate free_dog_sdk
+```
+
+杀掉机器人上的 sport 进程：
+
+```bash
+ssh pi@192.168.123.161 "sudo pkill -9 -f keep_sport_alive; sudo pkill -9 -f Legged_sport; sudo pkill -9 -f appTransit"
+```
+
+或者在部署脚本里直接加 `--kill-sport`。
+
+脚本执行 `--kill-sport` 时，会打印并执行等价的 SSH 命令。如果不加
+`--kill-sport`，请务必手动执行上面的命令。
+
+## 启动前电机顺序检查
+
+真机脚本启动连接 MCU 前会自动检查：
+
+```text
+SDK 顺序必须是:
+FR_0 FR_1 FR_2
+FL_0 FL_1 FL_2
+RR_0 RR_1 RR_2
+RL_0 RL_1 RL_2
+
+策略顺序对应:
+FR_hip FR_thigh FR_calf
+FL_hip FL_thigh FL_calf
+RR_hip RR_thigh RR_calf
+RL_hip RL_thigh RL_calf
+```
+
+如果 SDK 顺序不一致，脚本会直接报错并停止，不会继续连接机器人。
+
+检查通过时会打印类似：
+
+```text
+[INFO] Joint order check passed: SDK and policy both use FR, FL, RR, RL.
+  [00] FR_0 -> FR_hip   default=-0.100
+  [01] FR_1 -> FR_thigh default=+0.800
+  [02] FR_2 -> FR_calf  default=-1.500
+  ...
+  [11] RL_2 -> RL_calf  default=-1.500
+```
+
+连接成功后，脚本还会逐项打印当前电机角度和默认角度：
+
+```text
+[INFO] Initial joint positions (rad):
+  [00] FR_0: q=..., default=-0.100
+  ...
+  [11] RL_2: q=..., default=-1.500
+```
+
+## 第 1 步：只取数据
+
+只读 LowState、IMU、关节和遥控器数据，不发任何电机命令。
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --monitor \
+  --kill-sport \
+  --log-dir logs
+```
+
+检查：
+
+- 电量正常
+- 机器人姿态变化时，RPY 会跟着变化
+- 12 个关节位置不是全 0
+- 遥控器按键和摇杆变化能正常打印
+
+## 第 2 步：测试遥控器
+
+继续用 `--monitor`，依次测试：
+
+- 按 `R2`
+- 按 `L2`
+- 左摇杆前后、左右
+- 右摇杆左右
+
+期望结果：
+
+- `pressed`、`rising`、`falling` 会正确变化
+- `lx`、`ly`、`rx` 会正确变化
+- 不会有任何电机动作
+
+## 第 3 步：测试观测构建
+
+只构建 45 维观测和 225 维 ONNX 历史输入，不做 RL 控制。
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --obs-check \
+  --kill-sport \
+  --log-dir logs
+```
+
+检查：
+
+- 站立时重力投影接近 `[0, 0, -1]`
+- 指令观测会随遥控器变化
+- `q-qd max` 在合理范围内
+- ONNX 输入形状是 `(1, 225)`
+
+## 第 4 步：只测试 ONNX 推理
+
+只跑 ONNX 推理，不发 RL 电机目标。
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --infer-check \
+  --kill-sport \
+  --log-dir logs
+```
+
+检查：
+
+- `action_raw max` 不会突然爆大
+- 零指令时动作应比较稳定
+- 长时间给 yaw 指令时，动作不应持续发散
+
+## 第 5 步：测试状态机和退出
+
+不加 `--enable-rl`，这样只会走校准、保持、观测和推理层，不会真正进入 RL 电机控制。
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --kill-sport \
+  --log-dir logs
+```
+
+### 遥控器操作步骤
+
+先把机器人悬空，四条腿下方不要站人，手指始终放在 `L2` 上。每按一次 `R2` 后都要等终端打印出对应状态，并观察 5 到 10 秒再按下一次。
+
+```text
+启动后:
+  状态应为 IDLE
+  电机处于阻尼/空闲，不应主动站立
+
+第 1 次按 R2:
+  IDLE -> CALIBRATE -> HOLD
+  机器人会缓慢回到默认站姿
+  等终端打印 [STATE] HOLD
+
+第 2 次按 R2:
+  HOLD -> OBS_TEST
+  电机仍保持默认站姿
+  只构建观测，不使用 ONNX 动作控制电机
+
+第 3 次按 R2:
+  OBS_TEST -> INFER_TEST
+  电机仍保持默认站姿
+  只运行 ONNX 推理，动作只写日志，不控制电机
+
+第 4 次按 R2:
+  未加 --enable-rl 时会被守卫拦住
+  终端应打印 RL blocked
+
+任意激活状态按 L2:
+  立即回到 IDLE 阻尼
+
+Ctrl+C:
+  调用 safe_stop() 并退出脚本
+```
+
+必须确认：
+
+```text
+R2 每次只前进一层
+L2 在 HOLD / OBS_TEST / INFER_TEST 都能回到 IDLE
+松开 R2/L2 后，日志里 rising/falling 不应连续乱跳
+摇杆不动时，lx/ly/rx/ry 应接近 0
+```
+
+检查：
+
+- 校准会缓慢回到默认站姿
+- `HOLD` 会保持默认站姿
+- `L2` 能回到 `IDLE`
+- `Ctrl+C` 会正常打印 `Safe stopping...` 并退出
+
+## 第 6 步：悬空 RL 测试
+
+只有前 1 到 5 步都稳定后，才加 `--enable-rl` 进行悬空 RL。第一轮必须先隔离遥控器摇杆输入，用 `--no-rc` 固定零指令，只用遥控器按键切状态：
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --kill-sport \
+  --enable-rl \
+  --no-rc \
+  --cmd-x 0 --cmd-y 0 --cmd-yaw 0 \
+  --log-dir logs \
+  --kp 60 --kd 1.0 \
+  --kp-cal 20 --kd-cal 1.0 \
+  --power-factor 6 \
+  --position-protect-limit 0.8 \
+  --action-clip 2.5 \
+  --action-trip-limit 8.0 \
+  --max-target-step 0.04 \
+  --max-roll-deg 25 \
+  --max-pitch-deg 25
+```
+
+### RL 遥控器操作步骤
+
+第一轮带 `--no-rc`，摇杆不会进入策略，只用 `R2` 和 `L2` 切状态。每一步都等终端状态确认后再继续。
+
+```text
+启动后:
+  状态应为 IDLE
+
+第 1 次按 R2:
+  IDLE -> CALIBRATE -> HOLD
+  等站姿稳定
+
+第 2 次按 R2:
+  HOLD -> OBS_TEST
+  等 5 到 10 秒，确认 RPY、q 和 dq 稳定
+
+第 3 次按 R2:
+  OBS_TEST -> INFER_TEST
+  等 5 到 10 秒，确认 action_raw_max 不突然变大
+
+第 4 次按 R2:
+  INFER_TEST -> RL
+  先只观察 10 到 20 秒，不推摇杆
+
+RL 中再按 R2:
+  RL -> HOLD
+  用来从 RL 平稳退回保持站姿
+
+任意异常立即按 L2:
+  回到 IDLE 阻尼
+
+需要退出脚本:
+  先按 L2 回 IDLE
+  再 Ctrl+C
+```
+
+悬空 RL 时：
+
+- 先用 `--no-rc` 保持零指令
+- 零指令稳定后，再取消 `--no-rc` 并用很小的摇杆比例
+- 观察 `action_raw_max`、`action_safe_max`、RPY 和关节目标
+- 刚进入 RL 的前 `warmup_steps` 帧不会真正发送 RL 目标，之后目标应按 `max_target_step` 平滑变化
+- 一旦动作或姿态不对，立刻按 `L2`
+
+## 参数逐层强化
+
+建议先用小参数，再逐层加到当前目标值。前一层如果还不稳定，不要跳层。每层至少稳定 1 到 2 分钟再升级。
+
+### 第 0 层：完全不控电机
+
+先跑：
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py --monitor --kill-sport --log-dir logs
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py --obs-check --kill-sport --log-dir logs
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py --infer-check --kill-sport --log-dir logs
+```
+
+只有在状态、遥控、观测和动作日志都正常时，才进入下一层。
+
+### 第 1 层：弱校准和保持
+
+先不进 RL，只测试起立、保持、`R2`、`L2` 和 `Ctrl+C`。
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --kill-sport \
+  --log-dir logs \
+  --kp 20 --kd 0.7 \
+  --kp-cal 10 --kd-cal 0.7 \
+  --power-factor 3 \
+  --position-protect-limit 0.4
+```
+
+只有在校准平滑、能稳定保持、`L2` 能可靠回到 `IDLE` 时才升级。
+
+### 第 2 层：中等校准和保持
+
+仍然不进 RL。
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --kill-sport \
+  --log-dir logs \
+  --kp 40 --kd 0.8 \
+  --kp-cal 15 --kd-cal 0.8 \
+  --power-factor 5 \
+  --position-protect-limit 0.6
+```
+
+只有在保持姿态稳定、关节不抖时才继续。
+
+### 第 3 层：保守悬空 RL，固定零指令
+
+开始允许 RL，但固定零指令，先确认策略本体能悬空稳定，不测试摇杆速度指令。
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --kill-sport \
+  --enable-rl \
+  --no-rc \
+  --cmd-x 0 --cmd-y 0 --cmd-yaw 0 \
+  --log-dir logs \
+  --kp 60 --kd 1.0 \
+  --kp-cal 20 --kd-cal 1.0 \
+  --power-factor 6 \
+  --position-protect-limit 0.8 \
+  --action-clip 2.5 \
+  --action-trip-limit 8.0 \
+  --max-target-step 0.04 \
+  --max-roll-deg 25 \
+  --max-pitch-deg 25
+```
+
+只有在悬空 RL 零指令稳定时才进入下一层。
+
+### 第 3.5 层：保守悬空 RL，小遥控比例
+
+取消 `--no-rc`，但先把摇杆比例限制到小范围。脚本默认还会对遥控器命令做 deadzone、低通和变化率限制。
+
+如果加 `--swap-vy-yaw`，遥控映射会变成：
+
+```text
+左摇杆前后 ly -> vx
+左摇杆左右 lx -> yaw
+右摇杆左右 rx -> vy
+```
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --kill-sport \
+  --enable-rl \
+  --log-dir logs \
+  --kp 60 --kd 1.0 \
+  --kp-cal 20 --kd-cal 1.0 \
+  --power-factor 6 \
+  --position-protect-limit 0.8 \
+  --action-clip 2.5 \
+  --action-trip-limit 8.0 \
+  --max-target-step 0.06 \
+  --max-roll-deg 25 \
+  --max-pitch-deg 25 \
+  --swap-vy-yaw \
+  --rc-vx-scale 0.3 \
+  --rc-vy-scale 0.15 \
+  --rc-wz-scale 0.5
+```
+
+这一层不要直接长时间满杆。建议按下面顺序测，每次给很短的摇杆脉冲，松杆回中后等姿态稳定再继续：
+
+```text
+进入 RL 后先零摇杆观察 10 秒
+
+左摇杆前后:
+  ly 轻推到约 1/3 行程，保持 0.5 到 1 秒，松开
+  观察 roll/pitch、qvel、action_raw_max
+
+左摇杆左右:
+  加 --swap-vy-yaw 后控制 yaw
+  lx 轻推到约 1/3 行程，保持 0.5 到 1 秒，松开
+  如果 yaw 仍慢，可以逐步把 --rc-wz-scale 从 0.5 提到 0.7
+
+右摇杆左右:
+  加 --swap-vy-yaw 后控制 vy
+  rx 轻推到约 1/3 行程，保持 0.5 到 1 秒，松开
+  观察横向动作是否明显发散
+
+任何时候:
+  action_raw_max 接近 2.0、qvel 明显变大、roll/pitch 持续变大，立即按 L2
+```
+
+这一层重点检查 `commands_raw` 和 `commands`：默认无命令滤波时两者应基本一致。如果手动启用了 `--cmd-ema-alpha` 或 `--max-cmd-step-*`，则 `commands` 会比 `commands_raw` 更慢变化。
+
+### 第 4 层：当前目标参数
+
+这是当前想要的正式参数。只有第 3 层和第 3.5 层都稳定后再用。
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --kill-sport \
+  --enable-rl \
+  --log-dir logs \
+  --kp 80 --kd 1.0 \
+  --kp-cal 20 --kd-cal 1.0 \
+  --power-factor 7 \
+  --position-protect-limit 1.0 \
+  --action-clip 4.0 \
+  --action-trip-limit 12.0 \
+  --max-target-step 0.08 \
+  --swap-vy-yaw \
+  --rc-vx-scale 0.5 \
+  --rc-vy-scale 0.25 \
+  --rc-wz-scale 0.7
+```
+
+这些值仍低于全遥控比例，用来逐步靠近正式测试；不要直接用满 `1.0/0.5/1.0`。
+
+## 第 7 步：上地面测试
+
+只有悬空 RL 稳定后，才能落地。
+
+1. 把机器人放到平地上
+2. 零指令进入 RL
+3. 先让它站稳
+4. 再给小指令
+
+建议起始范围：
+
+```text
+ly <= 0.2
+lx <= 0.1
+rx <= 0.2
+```
+
+如果出现以下情况，立即按 `L2`：
+
+- 动作越来越大
+- roll 或 pitch 持续变大
+- 腿乱甩
+- 机器人开始摔倒或打滑
+
+### 15 cm 台阶测试参数
+
+`stairs_3.xml` 的单级高度约 `0.14 m`。从 MuJoCo 采样和真机日志看，上台阶时 pitch 到 `25 deg` 以上、roll 短时超过 `35 deg` 都可能出现。台阶测试不要继续用平地/悬空的 `25 deg` 或 `35 deg` 姿态保护。
+
+建议台阶第一轮用下面这组。它比平地测试放开姿态和动作幅度，但仍保留目标位置变化率限制，避免单帧目标跳变太大：
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
+  --kill-sport \
+  --enable-rl \
+  --log-dir logs \
+  --kp 40 --kd 0.8 \
+  --kp-cal 20 --kd-cal 1.0 \
+  --power-factor 6 \
+  --position-protect-limit 1.2 \
+  --action-clip 4.0 \
+  --action-trip-limit 9.0 \
+  --max-target-step 0.15 \
+  --max-roll-deg 45 \
+  --max-pitch-deg 45 \
+  --swap-vy-yaw \
+  --rc-vx-scale 0.5 \
+  --rc-vy-scale 0.5 \
+  --rc-wz-scale 1.0
+```
+
+如果动作幅度仍明显不够，再把 `--max-target-step` 从 `0.15` 加到 `0.20`。只有确认目标变化率限制确实挡住抬腿时，才短时间对照测试 `--max-target-step 0`。
+
+`--action-trip-limit 9.0` 只是把 raw action 的异常停机阈值从 `8.0` 放宽到 `9.0`；实际发给关节目标的动作仍会先被 `--action-clip 4.0` 裁剪，所以它不会直接增加腿部动作幅度。如果 raw action 经常超过 `9.0`，说明观测或姿态已经明显偏离训练分布，应按 `L2` 退回而不是继续放大阈值。
+
+`--max-target-step 0` 的意思是关闭单步目标变化率限制，不是关闭关节硬限位、action clip 或 SDK 安全保护。真机日志 `rlgym_go1_deploy_20260724_172122` 里，`max_target_step=0`、`position_protect_limit=1.5`、`power_factor=9` 时触发的是实测扭矩保护：`tauEst` 已超过 SDK 的 `TAU_MAX`，所以脚本会进入 `FAULT` 并阻尼停机。
+
+这只是放宽姿态保护，不是关闭全部安全保护。`action_trip_limit`、`max_dof_vel`、`max_gyro`、`position_protect_limit`、实测扭矩保护和 `L2` 急停仍然保留。
+
+注意：`--power-factor` 主要限制命令力矩 `tau` 的比例；这个部署脚本发送的是位置控制，命令 `tau=0`。实测 `tauEst` 超过 SDK `TAU_MAX` 时，即使 `power_factor=9` 也会停机。遇到这种停机，优先减小瞬时目标跳变或速度指令，不要继续只增大 `power_factor`。
+
+目前台阶实测后的建议顺序：
+
+```text
+第一轮: position_protect_limit=1.2, max_target_step=0.15, power_factor=6
+第二轮: position_protect_limit=1.2, max_target_step=0.20, power_factor=6
+第三轮: position_protect_limit=1.5, max_target_step=0.20, power_factor=6 或 7
+短时对照: position_protect_limit=1.5, max_target_step=0, power_factor=6 或 7
+```
+
+如果出现 `PowerProtectViolation`，说明已经是实测扭矩过载边缘。下一轮建议回退到上一层参数，或者降低 `--rc-vx-scale` / 避免连续满前进杆。
+
+## MuJoCo 键盘 sim2sim
+
+键盘控制测试直接用本目录的 `deploy_go1_onnx_mujoco.py`。它加载同一个 `policy_15k.onnx`，使用 45 维观测和 5 帧 ONNX 历史，在 MuJoCo 里做位置 PD 控制。
+
+平地启动：
+
+```bash
+cd /Users/chenyouyuan/cyy_ws/deploy_go1_pro
+conda activate free_dog_sdk
+
+mjpython deploy_45dim_rl_gym/deploy_go1_onnx_mujoco.py \
+  --clip-actions 4.0 \
+  --max-target-step 0.15
+```
+
+楼梯 level 3 启动：
+
+```bash
+cd /Users/chenyouyuan/cyy_ws/deploy_go1_pro
+conda activate free_dog_sdk
+
+mjpython deploy_45dim_rl_gym/deploy_go1_onnx_mujoco.py \
+  --terrain terrains/stairs/stairs_3.xml \
+  --spawn-x -0.6 \
+  --spawn-z 0.34 \
+  --clip-actions 4.0 \
+  --max-target-step 0.15
+```
+
+如果你想对照策略原始动作能力，可以短时间把 `--max-target-step` 改成 `0.0`：
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_onnx_mujoco.py \
+  --terrain terrains/stairs/stairs_3.xml \
+  --spawn-x -0.6 \
+  --spawn-z 0.34 \
+  --clip-actions 4.0 \
+  --max-target-step 0.0
+```
+
+键盘控制：
+
+```text
+方向键 ↑ / ↓ : 前进 / 后退
+方向键 ← / → : 左转 / 右转 yaw
+, / .        : 左移 / 右移 vy
+K            : 零速度指令
+R            : 重置机器人
+Esc          : 退出
+```
+
+如果键盘没有响应，先点一下 MuJoCo 窗口或终端，让当前窗口获得焦点。macOS 第一次使用 `pynput` 可能需要给终端或 Python 辅助功能权限。
+
+## MuJoCo 楼梯采样
+
+可以先在 MuJoCo 里固定前进指令采样楼梯 level 3。`stairs_3.xml` 的单级高度约 `0.14 m`，接近 `15 cm` 台阶。
+
+默认前进速度、真机放开动作幅度、但保留较严格目标步长限制：
+
+```bash
+conda activate free_dog_sdk
+
+mjpython deploy_45dim_rl_gym/deploy_go1_onnx_mujoco.py \
+  --sample-stairs-level 3 \
+  --sample-seconds 10 \
+  --sample-cmd-x 1.0 \
+  --sample-cmd-y 0 \
+  --sample-cmd-yaw 0 \
+  --clip-actions 4.0 \
+  --max-target-step 0.08 \
+  --sample-log-dir logs
+```
+
+如果 `0.08` 在楼梯上动作太小，可以用下面这个对照测试策略原始能力：
+
+```bash
+mjpython deploy_45dim_rl_gym/deploy_go1_onnx_mujoco.py \
+  --sample-stairs-level 3 \
+  --sample-seconds 10 \
+  --sample-cmd-x 1.0 \
+  --sample-cmd-y 0 \
+  --sample-cmd-yaw 0 \
+  --clip-actions 4.0 \
+  --max-target-step 0.0 \
+  --sample-log-dir logs
+```
+
+采样日志会保存：
+
+```text
+logs/mujoco_stairs_sample_YYYYMMDD_HHMMSS/
+  metadata.json
+  steps.jsonl
+  summary.json
+```
+
+重点看：
+
+- `fallen`
+- `base_x_progress`
+- `rpy_min_deg` / `rpy_max_deg`
+- `action_raw_maxabs`
+- `action_applied_maxabs`
+- `target_offset_maxabs`
+- `dof_vel_maxabs`
+
+## 日志
+
+日志会保存在：
+
+```text
+logs/rlgym_go1_deploy_YYYYMMDD_HHMMSS/
+  metadata.json
+  steps.jsonl
+```
+
+常看字段：
+
+- `commands`
+- `commands_raw`
+- `obs_single`
+- `action_raw`
+- `action_safe`
+- `joint_targets`
+- `dof_pos`
+- `dof_vel`
+- `base_ang_vel`
+- `projected_gravity`
+- `imu_rpy_deg`
+- `state_reason`
+
+## 常用默认值
+
+真机部署脚本使用的默认值如下：
+
+```text
+kp = 80.0
+kd = 1.0
+kp_cal = 20.0
+kd_cal = 1.0
+power_factor = 7
+position_protect_limit = 1.0
+action_ema_alpha = 0.0
+rc_deadzone = 0.05
+cmd_ema_alpha = 1.0
+max_cmd_step_x = 0.0
+max_cmd_step_y = 0.0
+max_cmd_step_yaw = 0.0
+rate_hz = 50.0
+```
+
+这些值来自之前成功的 Go1 PRO 低层部署经验。`rlgym_go1_deploy_20260724_193128` 和 `rlgym_go1_deploy_20260724_193318` 对照显示，当前 45 维策略在真机上关闭遥控器命令低通/变化率限制更稳定；如需重新启用滤波，应只作为单独变量短时对照测试。
+
+RoboGauge 策略自己的参数不要照搬旧的 57 维策略：
+
+```text
+action_scale = 0.25
+default_dof_pos = FR, FL, RR, RL 顺序下的 [-0.1/0.1, 0.8/1.0, -1.5]
+history_len = 5
+onnx_input_dim = 225
+```

deploy_45dim_rl_gym/deploy_go1_onnx_mujoco.py

@@ -0,0 +1,738 @@
+#!/usr/bin/env python3
+"""
+Go1 MoE CTS ONNX Policy — MuJoCo Simulation Deployment.
+
+Loads the 15k ONNX policy exported from RoboGauge and runs it in MuJoCo
+with PD position control. The ONNX model uses a 5-frame CTS history
+(225-dim stacked-by-terms input, stateless).
+
+Usage:
+    conda activate free_dog_sdk
+    MUJOCO_GL=glfw python deploy_go1_onnx_mujoco.py
+    MUJOCO_GL=glfw python deploy_go1_onnx_mujoco.py --terrain terrains/stairs/stairs_6.xml
+
+Controls (matching RoboGauge keyboard convention):
+    ↑ / ↓         forward / backward
+    ← / →         yaw left / right
+    , / .         strafe left / right
+    K             stop
+    R             reset robot
+    Esc           quit
+
+Architecture:
+    ONNX input:  obs [1, 225]  — 5 frames × 45 dims, stacked by TERMS
+    ONNX output: actions [1, 12], weights [1, 8], latent [1, 32]
+    Control:     target_q = default_q + 0.25 * action, PD with Kp=28, Kd=0.7
+"""
+
+import argparse
+import json
+import os
+import re
+import signal
+import sys
+import time
+from collections import deque
+from datetime import datetime
+from pathlib import Path
+
+import mujoco
+import numpy as np
+import onnxruntime as ort
+from mujoco import viewer
+
+# ── path setup ──
+SCRIPT_DIR = Path(__file__).resolve().parent
+DEFAULT_ONNX = str(SCRIPT_DIR / "policy_25k.onnx")
+ROBOT_XML = str(SCRIPT_DIR / "go1.xml")
+TERRAINS_DIR = SCRIPT_DIR / "terrains"
+
+# ── policy constants (RoboGauge Go1Config) ──
+NUM_OBS = 45
+NUM_ACTIONS = 12
+HISTORY_LEN = 5          # CTS history frames
+ONNX_INPUT_DIM = 225     # 45 × 5, stacked by terms
+
+ACTION_SCALE = 0.25
+KP = 28.0
+KD = 0.7
+CLIP_ACTIONS = 100.0
+CLIP_OBS = 100.0
+
+ANG_VEL_SCALE = 0.25
+CMD_SCALE = np.array([2.0, 2.0, 0.25], dtype=np.float32)
+
+MAX_LIN_VEL_X = 1.0
+MAX_LIN_VEL_Y = 0.5
+MAX_ANG_VEL = 1.0
+
+DEFAULT_DOF_POS = np.array([
+    -0.1,  0.8, -1.5,   # FR_hip, FR_thigh, FR_calf
+     0.1,  0.8, -1.5,   # FL_hip, FL_thigh, FL_calf
+    -0.1,  1.0, -1.5,   # RR_hip, RR_thigh, RR_calf
+     0.1,  1.0, -1.5,   # RL_hip, RL_thigh, RL_calf
+], dtype=np.float32)
+
+# ── exit flag ──
+EXIT = False
+
+def _sig_handler(signum, frame):
+    global EXIT
+    EXIT = True
+
+signal.signal(signal.SIGINT, _sig_handler)
+signal.signal(signal.SIGTERM, _sig_handler)
+
+
+# ═══════════════════════════════════════════════════════════════
+# XML builder — merge terrain + robot into one MuJoCo scene
+# ═══════════════════════════════════════════════════════════════
+
+def _xml_inner(text, tag):
+    """Extract inner content of the first <tag>...</tag> in text."""
+    m = re.search(rf"<{tag}>(.*?)</{tag}>", text, re.DOTALL)
+    return m.group(1).strip() if m else ""
+
+
+def build_scene_xml(robot_xml_path, terrain_xml_path=None):
+    """Merge robot XML with optional terrain XML into a single scene model.
+
+    The robot XML (go1.xml) has base_link as the root body with no free joint.
+    We add a free joint and optionally merge terrain worldbody/asset elements.
+    """
+    robot = Path(robot_xml_path).read_text()
+
+    # 1) Add free joint to base_link
+    robot = robot.replace(
+        '<body name="base_link" pos="0 0 0.35">',
+        '<body name="base_link" pos="0 0 0.35">\n            <joint type="free"/>'
+    )
+
+    if terrain_xml_path is None:
+        # No terrain — add a simple flat floor
+        floor = (
+            '\n        <geom name="floor" size="0 0 0.05" type="plane" '
+            'rgba="0.5 0.9 0.9 0.1"/>\n'
+        )
+        robot = robot.replace(
+            '<body name="base_link"',
+            floor + '        <body name="base_link"'
+        )
+        return robot
+
+    terrain_text = Path(terrain_xml_path).read_text()
+
+    # 2) Merge terrain <asset> into robot <asset>
+    terrain_assets = _xml_inner(terrain_text, "asset")
+    if terrain_assets:
+        # Insert before closing </asset> of robot (or before <worldbody> if no asset)
+        robot = robot.replace('</asset>', '\n' + terrain_assets + '\n    </asset>', 1)
+
+    # 3) Merge terrain <visual> settings
+    terrain_visual = _xml_inner(terrain_text, "visual")
+    if terrain_visual:
+        robot = robot.replace('</visual>', '\n' + terrain_visual + '\n    </visual>', 1)
+
+    # 4) Merge terrain worldbody elements (lights, geoms, etc.) before base_link
+    terrain_wb = _xml_inner(terrain_text, "worldbody")
+    if terrain_wb:
+        # Remove <body> elements from terrain worldbody (we only want geoms/lights/cameras)
+        terrain_wb_no_bodies = re.sub(r'<body\b.*?</body>', '', terrain_wb, flags=re.DOTALL)
+        robot = robot.replace(
+            '<body name="base_link"',
+            terrain_wb_no_bodies.strip() + '\n        <body name="base_link"'
+        )
+
+    return robot
+
+
+# ═══════════════════════════════════════════════════════════════
+# Observation building
+# ═══════════════════════════════════════════════════════════════
+
+def get_projected_gravity(quat_wxyz):
+    qw, qx, qy, qz = quat_wxyz
+    g = np.zeros(3, dtype=np.float32)
+    g[0] = 2.0 * (-qz * qx + qw * qy)
+    g[1] = -2.0 * (qz * qy + qw * qx)
+    g[2] = 1.0 - 2.0 * (qw * qw + qz * qz)
+    return g
+
+
+def quat_rotate_inverse(q_wxyz, v):
+    """Rotate vector v from world frame into body frame using quaternion q."""
+    q_w = q_wxyz[0]
+    q_vec = np.array(q_wxyz[1:], dtype=np.float32)
+    v = np.array(v, dtype=np.float32)
+    a = v * (2.0 * q_w * q_w - 1.0)
+    b = np.cross(q_vec, v) * q_w * 2.0
+    c = q_vec * np.dot(q_vec, v) * 2.0
+    return a - b + c
+
+
+def quat_to_rpy_deg(q_wxyz):
+    """Convert MuJoCo [w, x, y, z] quaternion to roll/pitch/yaw in degrees."""
+    qw, qx, qy, qz = [float(x) for x in q_wxyz]
+    sinr_cosp = 2.0 * (qw * qx + qy * qz)
+    cosr_cosp = 1.0 - 2.0 * (qx * qx + qy * qy)
+    roll = np.arctan2(sinr_cosp, cosr_cosp)
+
+    sinp = 2.0 * (qw * qy - qz * qx)
+    pitch = np.arcsin(np.clip(sinp, -1.0, 1.0))
+
+    siny_cosp = 2.0 * (qw * qz + qx * qy)
+    cosy_cosp = 1.0 - 2.0 * (qy * qy + qz * qz)
+    yaw = np.arctan2(siny_cosp, cosy_cosp)
+    return np.degrees(np.array([roll, pitch, yaw], dtype=np.float32))
+
+
+def read_sensor(model, data, name, expected_dim):
+    """Read a MuJoCo sensor by name, returning None if it is not present."""
+    sid = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, name)
+    if sid < 0:
+        return None
+    adr = int(model.sensor_adr[sid])
+    dim = int(model.sensor_dim[sid])
+    if dim != expected_dim:
+        raise ValueError(f"sensor {name!r} has dim {dim}, expected {expected_dim}")
+    return np.asarray(data.sensordata[adr:adr + dim], dtype=np.float32).copy()
+
+
+class ObsBuilder:
+    """Build 45-dim single-frame obs and stack 5-frame history into 225-dim ONNX input.
+
+    ONNX expects observation terms stacked by groups (not by frames):
+        [ang_vel(t-4..t), gravity(t-4..t), cmd(t-4..t),
+         dof_pos(t-4..t), dof_vel(t-4..t), last_action(t-4..t)]
+    Within each group, frames go from oldest (t-4) to newest (t).
+    """
+
+    def __init__(self):
+        self.history: deque = deque(maxlen=HISTORY_LEN)
+
+    def reset(self):
+        self.history.clear()
+
+    def build_single_obs(self, base_ang_vel_body, base_quat_wxyz, cmd, q, dq, last_action):
+        """Build 45-dim single-frame observation (RoboGauge layout)."""
+        obs = np.zeros(NUM_OBS, dtype=np.float32)
+        obs[0:3] = np.asarray(base_ang_vel_body, dtype=np.float32) * ANG_VEL_SCALE
+        obs[3:6] = get_projected_gravity(np.asarray(base_quat_wxyz, dtype=np.float32))
+        obs[6:9] = np.asarray(cmd, dtype=np.float32) * CMD_SCALE
+        obs[9:21] = np.asarray(q, dtype=np.float32) - DEFAULT_DOF_POS
+        obs[21:33] = np.asarray(dq, dtype=np.float32) * 0.05
+        obs[33:45] = np.asarray(last_action, dtype=np.float32)
+        return np.clip(obs, -CLIP_OBS, CLIP_OBS)
+
+    def build_onnx_input(self, obs_single):
+        """Stack 5-frame history into 225-dim ONNX input (by-terms format)."""
+        self.history.append(obs_single.copy())
+
+        frames = list(self.history)
+        while len(frames) < HISTORY_LEN:
+            frames.insert(0, np.zeros(NUM_OBS, dtype=np.float32))
+
+        # term_dims: [ang_vel(3), gravity(3), cmd(3), dof_pos(12), dof_vel(12), last_action(12)]
+        term_dims = [3, 3, 3, 12, 12, 12]
+
+        stacked = []
+        offset = 0
+        for dim in term_dims:
+            for f_idx in range(HISTORY_LEN):
+                stacked.append(frames[f_idx][offset:offset + dim])
+            offset += dim
+
+        return np.concatenate(stacked, dtype=np.float32).reshape(1, -1)
+
+
+# ═══════════════════════════════════════════════════════════════
+# Keyboard input (pynput)
+# ═══════════════════════════════════════════════════════════════
+
+class KbReader:
+    """Non-blocking keyboard reader using a background pynput listener.
+
+    Key names match RoboGauge convention:
+        key.up / key.down  → forward/back
+        key.left / key.right → yaw
+        , / .              → strafe left/right
+        k                  → stop
+    """
+
+    def __init__(self):
+        import queue
+        import threading
+        self._q = queue.Queue()
+        self.held = set()
+        self._running = True
+        self._listener = None
+        self._thread = None
+
+    @staticmethod
+    def _name(key):
+        try:
+            if hasattr(key, 'char') and key.char is not None:
+                return key.char.lower()
+        except Exception:
+            pass
+        return str(key).lower()
+
+    def _worker(self):
+        while self._running:
+            try:
+                evt, key = self._q.get(timeout=0.05)
+            except Exception:
+                continue
+            name = self._name(key)
+            if evt == 'press':
+                self.held.add(name)
+            else:
+                self.held.discard(name)
+
+    def start(self):
+        from pynput import keyboard
+        self._listener = keyboard.Listener(
+            on_press=lambda k: self._q.put(('press', k)),
+            on_release=lambda k: self._q.put(('release', k)),
+        )
+        self._listener.start()
+        import threading
+        self._thread = threading.Thread(target=self._worker, daemon=True)
+        self._thread.start()
+        print("[INFO] keyboard started (↑↓←→ , . K R Esc)")
+
+    def is_held(self, key):
+        return self._name(key) in self.held
+
+    def snapshot(self):
+        return set(self.held)
+
+    def stop(self):
+        self._running = False
+        if self._listener:
+            self._listener.stop()
+
+
+def get_command(held):
+    """Extract velocity command from held key set.
+
+    Returns (vx, vy, yaw_rate).
+    """
+    if 'k' in held:
+        return 0.0, 0.0, 0.0
+
+    def axis(pos_key, neg_key, limit):
+        p = pos_key in held
+        n = neg_key in held
+        if p == n:
+            return 0.0
+        return limit if p else -limit
+
+    vx = axis('key.up', 'key.down', MAX_LIN_VEL_X)
+    vy = axis(',', '.', MAX_LIN_VEL_Y)
+    yaw = axis('key.left', 'key.right', MAX_ANG_VEL)
+    return vx, vy, yaw
+
+
+class SampleLogger:
+    def __init__(self, log_dir, terrain_path, cmd, args):
+        ts = datetime.now().strftime("%Y%m%d_%H%M%S")
+        self.run_dir = Path(log_dir).expanduser().resolve() / f"mujoco_stairs_sample_{ts}"
+        self.run_dir.mkdir(parents=True, exist_ok=True)
+        self.fp = open(self.run_dir / "steps.jsonl", "a", encoding="utf-8", buffering=1)
+        meta = {
+            "created_at": ts,
+            "terrain": str(terrain_path) if terrain_path else "flat",
+            "sample_seconds": args.sample_seconds,
+            "sample_cmd": list(cmd),
+            "spawn": [args.spawn_x, args.spawn_y, args.spawn_z],
+            "action_scale": ACTION_SCALE,
+            "clip_actions": args.clip_actions,
+            "max_target_step": args.max_target_step,
+            "kp": KP,
+            "kd": KD,
+            "control_dt": 0.02,
+            "sim_dt": 0.002,
+            "num_obs": NUM_OBS,
+            "history_len": HISTORY_LEN,
+            "onnx_input_dim": ONNX_INPUT_DIM,
+        }
+        (self.run_dir / "metadata.json").write_text(
+            json.dumps(meta, indent=2, ensure_ascii=False))
+        print(f"[INFO] sample log dir: {self.run_dir}")
+
+    def write(self, rec):
+        self.fp.write(json.dumps(rec, ensure_ascii=False) + "\n")
+
+    def close(self):
+        self.fp.flush()
+        self.fp.close()
+
+
+def summarize_samples(samples):
+    if not samples:
+        return {}
+
+    def max_abs_field(field):
+        return float(max(max(abs(x) for x in s[field]) for s in samples))
+
+    def p99_abs_field(field):
+        vals = sorted(abs(x) for s in samples for x in s[field])
+        if not vals:
+            return 0.0
+        idx = min(len(vals) - 1, int(0.99 * (len(vals) - 1)))
+        return float(vals[idx])
+
+    rpy = np.array([s["rpy_deg"] for s in samples], dtype=np.float32)
+    xyz = np.array([s["base_pos"] for s in samples], dtype=np.float32)
+    return {
+        "num_samples": len(samples),
+        "duration": float(samples[-1]["time_sim"] - samples[0]["time_sim"]),
+        "base_x_start": float(xyz[0, 0]),
+        "base_x_end": float(xyz[-1, 0]),
+        "base_x_progress": float(xyz[-1, 0] - xyz[0, 0]),
+        "base_z_min": float(np.min(xyz[:, 2])),
+        "base_z_max": float(np.max(xyz[:, 2])),
+        "rpy_min_deg": np.min(rpy, axis=0).astype(float).tolist(),
+        "rpy_max_deg": np.max(rpy, axis=0).astype(float).tolist(),
+        "action_raw_maxabs": max_abs_field("action_raw"),
+        "action_raw_p99abs": p99_abs_field("action_raw"),
+        "action_applied_maxabs": max_abs_field("action"),
+        "action_applied_p99abs": p99_abs_field("action"),
+        "target_offset_maxabs": max_abs_field("target_offset"),
+        "target_offset_p99abs": p99_abs_field("target_offset"),
+        "dof_vel_maxabs": max_abs_field("dof_vel"),
+        "torque_maxabs": max_abs_field("torques"),
+        "fallen": bool(any(s["fallen"] for s in samples)),
+    }
+
+
+# ═══════════════════════════════════════════════════════════════
+# Main
+# ═══════════════════════════════════════════════════════════════
+
+def main():
+    parser = argparse.ArgumentParser(description="Go1 MoE ONNX MuJoCo Deployment")
+    parser.add_argument("--onnx", type=str, default=DEFAULT_ONNX, help="ONNX model path")
+    parser.add_argument("--terrain", type=str, default=None,
+                        help="Terrain XML path (e.g. terrains/stairs/stairs_6.xml)")
+    parser.add_argument("--sample", action="store_true",
+                        help="Run a non-interactive fixed-command sampling rollout")
+    parser.add_argument("--sample-stairs-level", type=int, default=None,
+                        help="Shortcut for --sample --terrain terrains/stairs/stairs_LEVEL.xml")
+    parser.add_argument("--sample-seconds", type=float, default=20.0)
+    parser.add_argument("--sample-cmd-x", type=float, default=MAX_LIN_VEL_X)
+    parser.add_argument("--sample-cmd-y", type=float, default=0.0)
+    parser.add_argument("--sample-cmd-yaw", type=float, default=0.0)
+    parser.add_argument("--sample-log-dir", type=str, default=str(SCRIPT_DIR / "mujoco_logs"))
+    parser.add_argument("--spawn-x", type=float, default=None)
+    parser.add_argument("--spawn-y", type=float, default=None)
+    parser.add_argument("--spawn-z", type=float, default=None)
+    parser.add_argument("--clip-actions", type=float, default=CLIP_ACTIONS,
+                        help="Clip ONNX actions before applying action_scale")
+    parser.add_argument("--max-target-step", type=float, default=0.0,
+                        help="Optional per-control-step target q slew limit in rad")
+    args = parser.parse_args()
+
+    sample_mode = args.sample or args.sample_stairs_level is not None
+    if args.sample_stairs_level is not None:
+        args.sample = True
+        args.terrain = f"terrains/stairs/stairs_{args.sample_stairs_level}.xml"
+
+    if args.spawn_x is None:
+        args.spawn_x = -0.6 if args.sample_stairs_level is not None else 0.0
+    if args.spawn_y is None:
+        args.spawn_y = 0.0
+    if args.spawn_z is None:
+        args.spawn_z = 0.34
+    args.sample_log_dir = str(Path(args.sample_log_dir).expanduser().resolve())
+
+    # Resolve terrain path
+    terrain_path = None
+    if args.terrain:
+        terrain_path = Path(args.terrain)
+        if not terrain_path.is_absolute():
+            terrain_path = SCRIPT_DIR / terrain_path
+        if not terrain_path.exists():
+            print(f"[ERROR] terrain not found: {terrain_path}")
+            return 1
+
+    # ── Build scene XML ──
+    print(f"[INFO] robot: {ROBOT_XML}")
+    print(f"[INFO] terrain: {terrain_path or 'flat floor'}")
+    scene_xml = build_scene_xml(ROBOT_XML, str(terrain_path) if terrain_path else None)
+
+    # ── Load MuJoCo model ──
+    os.chdir(str(SCRIPT_DIR))  # meshdir="assets" is relative to go1.xml
+    model = mujoco.MjModel.from_xml_string(scene_xml)
+    data = mujoco.MjData(model)
+    model.opt.timestep = 0.002
+    print(f"[INFO] model: {model.nbody} bodies, qpos={model.nq}, actuators={model.nu}")
+    print(f"[INFO] timestep: {model.opt.timestep}s")
+    has_imu_gyro = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, "Body_Gyro") >= 0
+    has_imu_quat = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SENSOR, "Body_Quat") >= 0
+    print(f"[INFO] IMU sensors: Body_Gyro={has_imu_gyro}, Body_Quat={has_imu_quat}")
+
+    # ── Load ONNX ──
+    session = ort.InferenceSession(args.onnx, providers=['CPUExecutionProvider'])
+    inp = session.get_inputs()[0]
+    print(f"[INFO] ONNX  input : {inp.name} {inp.shape}")
+    for o in session.get_outputs():
+        print(f"[INFO] ONNX  output: {o.name} {o.shape}")
+
+    # ── Init state ──
+    data.qpos[0:3] = np.array([args.spawn_x, args.spawn_y, args.spawn_z], dtype=np.float64)
+    data.qpos[3:7] = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float64)
+    data.qpos[7:19] = DEFAULT_DOF_POS.astype(np.float64)
+    data.qvel[:] = 0.0
+    data.ctrl[:] = 0.0
+    mujoco.mj_forward(model, data)
+
+    # ── Control state ──
+    ctrl_dt = 0.02       # 50 Hz
+    sim_dt = model.opt.timestep
+    steps_per_inference = max(1, int(ctrl_dt / sim_dt))
+    print(f"[INFO] control: {ctrl_dt}s ({1/ctrl_dt:.0f}Hz), "
+          f"sim steps per inference: {steps_per_inference}")
+
+    last_action = np.zeros(NUM_ACTIONS, dtype=np.float32)
+    action_raw = np.zeros(NUM_ACTIONS, dtype=np.float32)
+    action = np.zeros(NUM_ACTIONS, dtype=np.float32)
+    target_pos = DEFAULT_DOF_POS.copy()
+    prev_target_pos = DEFAULT_DOF_POS.copy()
+    obs_builder = ObsBuilder()
+    step_count = 0
+    inference_step = 0
+
+    if sample_mode:
+        cmd = np.array([
+            args.sample_cmd_x,
+            args.sample_cmd_y,
+            args.sample_cmd_yaw,
+        ], dtype=np.float32)
+        cmd = np.clip(cmd, [-MAX_LIN_VEL_X, -MAX_LIN_VEL_Y, -MAX_ANG_VEL],
+                      [MAX_LIN_VEL_X, MAX_LIN_VEL_Y, MAX_ANG_VEL])
+        logger = SampleLogger(args.sample_log_dir, terrain_path, cmd, args)
+        samples = []
+        max_sim_steps = int(args.sample_seconds / sim_dt)
+        print(
+            f"[INFO] sampling: seconds={args.sample_seconds:.1f} "
+            f"cmd=({cmd[0]:.2f},{cmd[1]:.2f},{cmd[2]:.2f}) "
+            f"spawn=({args.spawn_x:.2f},{args.spawn_y:.2f},{args.spawn_z:.2f})"
+        )
+
+        while step_count < max_sim_steps and not EXIT:
+            if inference_step == 0:
+                imu_quat = read_sensor(model, data, "Body_Quat", 4)
+                imu_ang_vel = read_sensor(model, data, "Body_Gyro", 3)
+                quat_wxyz = imu_quat if imu_quat is not None else data.qpos[3:7].copy()
+                if imu_ang_vel is not None:
+                    base_ang_vel_body = imu_ang_vel
+                else:
+                    world_ang_vel = data.qvel[3:6].copy()
+                    base_ang_vel_body = quat_rotate_inverse(quat_wxyz, world_ang_vel)
+
+                q = data.qpos[7:19].copy()
+                dq = data.qvel[6:18].copy()
+                obs_single = obs_builder.build_single_obs(
+                    base_ang_vel_body, quat_wxyz, cmd, q, dq, last_action)
+                onnx_input = obs_builder.build_onnx_input(obs_single)
+                outputs = session.run(None, {'obs': onnx_input})
+                action_raw = outputs[0][0].astype(np.float32)
+                action = np.clip(action_raw, -args.clip_actions, args.clip_actions)
+                last_action = action.copy()
+
+                target_pos_raw = DEFAULT_DOF_POS + action * ACTION_SCALE
+                if args.max_target_step > 0.0:
+                    delta = np.clip(
+                        target_pos_raw - prev_target_pos,
+                        -args.max_target_step,
+                        args.max_target_step,
+                    )
+                    target_pos = prev_target_pos + delta
+                else:
+                    target_pos = target_pos_raw
+                prev_target_pos = target_pos.copy()
+
+            current_pos = data.qpos[7:19]
+            current_vel = data.qvel[6:18]
+            torques = KP * (target_pos - current_pos) - KD * current_vel
+            torques = np.clip(torques, -33.5, 33.5)
+            data.ctrl[:] = torques.astype(np.float64)
+
+            mujoco.mj_step(model, data)
+
+            if inference_step == 0:
+                quat_wxyz = data.qpos[3:7].copy()
+                rpy_deg = quat_to_rpy_deg(quat_wxyz)
+                fallen = bool(
+                    data.qpos[2] < 0.16
+                    or abs(rpy_deg[0]) > 60.0
+                    or abs(rpy_deg[1]) > 60.0
+                    or not np.all(np.isfinite(data.qpos))
+                )
+                rec = {
+                    "step": int(step_count),
+                    "control_step": int(step_count // steps_per_inference),
+                    "time_sim": float(data.time),
+                    "cmd": cmd.astype(float).tolist(),
+                    "base_pos": data.qpos[0:3].astype(float).tolist(),
+                    "base_quat": quat_wxyz.astype(float).tolist(),
+                    "rpy_deg": rpy_deg.astype(float).tolist(),
+                    "base_lin_vel": data.qvel[0:3].astype(float).tolist(),
+                    "base_ang_vel": data.qvel[3:6].astype(float).tolist(),
+                    "dof_pos": current_pos.astype(float).tolist(),
+                    "dof_vel": current_vel.astype(float).tolist(),
+                    "action_raw": action_raw.astype(float).tolist(),
+                    "action": action.astype(float).tolist(),
+                    "target_pos": target_pos.astype(float).tolist(),
+                    "target_offset": (target_pos - DEFAULT_DOF_POS).astype(float).tolist(),
+                    "torques": torques.astype(float).tolist(),
+                    "fallen": fallen,
+                }
+                logger.write(rec)
+                samples.append(rec)
+                if rec["control_step"] % 50 == 0:
+                    print(
+                        f"[sample {rec['control_step']:04d}] "
+                        f"t={rec['time_sim']:.2f} x={rec['base_pos'][0]:.2f} "
+                        f"z={rec['base_pos'][2]:.2f} rpy={np.round(rpy_deg, 1)} "
+                        f"act_max={np.max(np.abs(action)):.2f} "
+                        f"target_off={np.max(np.abs(target_pos - DEFAULT_DOF_POS)):.2f}"
+                    )
+                if fallen:
+                    print(f"[WARN] sample stopped: fallen at t={data.time:.2f}s")
+                    break
+
+            step_count += 1
+            inference_step = (inference_step + 1) % steps_per_inference
+
+        summary = summarize_samples(samples)
+        (logger.run_dir / "summary.json").write_text(
+            json.dumps(summary, indent=2, ensure_ascii=False))
+        logger.close()
+        print("[INFO] sample summary:")
+        print(json.dumps(summary, indent=2, ensure_ascii=False))
+        print(f"[INFO] sample saved: {logger.run_dir}")
+        return 0
+
+    # ── Keyboard ──
+    kb = KbReader()
+    kb.start()
+
+    # ── Viewer ──
+    view = viewer.launch_passive(model, data)
+    # Track the robot body
+    body_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "base_link")
+    if body_id >= 0:
+        view.cam.type = mujoco.mjtCamera.mjCAMERA_TRACKING
+        view.cam.trackbodyid = body_id
+        view.cam.distance = 2.5
+        view.cam.elevation = -20
+        view.cam.azimuth = 60
+    print("[INFO] viewer launched")
+
+    loop_start = time.time()
+
+    while view.is_running() and not EXIT:
+        held = kb.snapshot()
+
+        # ── Quit ──
+        if 'key.esc' in held:
+            break
+
+        # ── Command from keyboard ──
+        vx, vy, yaw = get_command(held)
+        cmd = np.array([vx, vy, yaw], dtype=np.float32)
+
+        # ── Reset ──
+        if 'r' in held:
+            data.qpos[0:3] = np.array([0.0, 0.0, 0.34], dtype=np.float64)
+            data.qpos[3:7] = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float64)
+            data.qpos[7:19] = DEFAULT_DOF_POS.astype(np.float64)
+            data.qvel[:] = 0.0
+            data.ctrl[:] = 0.0
+            last_action = np.zeros(NUM_ACTIONS, dtype=np.float32)
+            action_raw = np.zeros(NUM_ACTIONS, dtype=np.float32)
+            action = np.zeros(NUM_ACTIONS, dtype=np.float32)
+            target_pos = DEFAULT_DOF_POS.copy()
+            prev_target_pos = DEFAULT_DOF_POS.copy()
+            obs_builder.reset()
+            mujoco.mj_forward(model, data)
+            print("[RESET]")
+
+        # ── Inference ──
+        if inference_step == 0:
+            # Match RoboGauge: policy obs uses XML IMU gyro and framequat sensors.
+            # Fall back to qpos/qvel only for XMLs without those sensors.
+            imu_quat = read_sensor(model, data, "Body_Quat", 4)
+            imu_ang_vel = read_sensor(model, data, "Body_Gyro", 3)
+            quat_wxyz = imu_quat if imu_quat is not None else data.qpos[3:7].copy()
+            if imu_ang_vel is not None:
+                base_ang_vel_body = imu_ang_vel
+            else:
+                world_ang_vel = data.qvel[3:6].copy()
+                base_ang_vel_body = quat_rotate_inverse(quat_wxyz, world_ang_vel)
+
+            # Joint state (qpos[7:19] is FR,FL,RR,RL — matches policy order)
+            q = data.qpos[7:19].copy()
+            dq = data.qvel[6:18].copy()
+
+            # Build obs
+            obs_single = obs_builder.build_single_obs(
+                base_ang_vel_body, quat_wxyz, cmd, q, dq, last_action)
+            onnx_input = obs_builder.build_onnx_input(obs_single)
+
+            # Run ONNX
+            outputs = session.run(None, {'obs': onnx_input})
+            action_raw = outputs[0][0].astype(np.float32)  # [12]
+            action = np.clip(action_raw, -args.clip_actions, args.clip_actions)
+            last_action = action.copy()
+
+            target_pos_raw = DEFAULT_DOF_POS + action * ACTION_SCALE
+            if args.max_target_step > 0.0:
+                delta = np.clip(
+                    target_pos_raw - prev_target_pos,
+                    -args.max_target_step,
+                    args.max_target_step,
+                )
+                target_pos = prev_target_pos + delta
+            else:
+                target_pos = target_pos_raw
+            prev_target_pos = target_pos.copy()
+
+        # ── PD control ──
+        current_pos = data.qpos[7:19]
+        current_vel = data.qvel[6:18]
+        torques = KP * (target_pos - current_pos) - KD * current_vel
+        torques = np.clip(torques, -33.5, 33.5)
+        data.ctrl[:] = torques.astype(np.float64)
+
+        mujoco.mj_step(model, data)
+        view.sync()
+
+        # Real-time sync — use sim_dt because step_count increments every sim step
+        expected_time = step_count * sim_dt
+        elapsed = time.time() - loop_start
+        if 0 < expected_time - elapsed < ctrl_dt:
+            time.sleep(expected_time - elapsed)
+
+        step_count += 1
+        inference_step = (inference_step + 1) % steps_per_inference
+
+        # Periodic status
+        if step_count % 200 == 0:
+            z = data.qpos[2]
+            lin_vel_abs = np.linalg.norm(data.qvel[0:3])
+            print(f"[{step_count}] cmd=({vx:.1f},{vy:.1f},{yaw:.1f}) "
+                  f"z={z:.3f} |v|={lin_vel_abs:.2f} "
+                  f"act[0:4]={np.round(action[:4], 3)}")
+
+    kb.stop()
+    view.close()
+    print("[INFO] done.")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

deploy_45dim_rl_gym/go1.xml

@@ -0,0 +1,197 @@
+<mujoco model="go1">
+    <compiler angle="radian" meshdir="assets" />
+    <size njmax="500" nconmax="100" />
+    <option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
+
+    <default>
+        <geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
+
+        <light castshadow="false" diffuse="1 1 1"/>
+        <motor ctrlrange="-33.5 33.5" ctrllimited="true"/>
+        <camera fovy="60"/>
+        <joint damping="0.01" armature="0.01" frictionloss="0.2" />
+
+    </default>
+    <asset>
+        <mesh name="trunk" file="trunk.stl" />
+        <mesh name="hip" file="hip.stl" />
+        <mesh name="thigh_mirror" file="thigh_mirror.stl" />
+        <mesh name="calf" file="calf.stl" />
+        <mesh name="thigh" file="thigh.stl" />
+    </asset>
+
+    <worldbody>
+        <body name="base_link" pos="0 0 0.35">
+            <inertial pos="0.0116053 0.00442221 0.000106692" quat="0.0111438 0.707126 -0.00935374 0.706938" mass="4.801" diaginertia="0.0447997 0.0366257 0.0162187" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
+            <geom size="0.13 0.04675 0.057" type="box" rgba="0.913725 0.913725 0.847059 1" />
+            <geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />
+            <geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" rgba="0.8 0 0 0" />
+            <site name="imu" pos="0 0 0"/>
+
+            <body name="FR_hip" pos="0.1881 -0.04675 0">
+                <inertial pos="-0.00406411 -0.0193463 4.50733e-06" quat="0.467526 0.531662 -0.466259 0.530431" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
+                <joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
+                <geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
+                <geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
+                <geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
+
+                <body name="FR_thigh" pos="0 -0.08 0">
+                    <inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
+                    <joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
+                    <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
+                    <body name="FR_calf" pos="0 0 -0.213">
+                        <inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
+                        <joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
+                        <geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
+                        <geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
+                        <geom name="FR" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
+                        <body name="FR_foot" pos="0 0 -0.213" />
+                    </body>
+                </body>
+            </body>
+            <body name="FL_hip" pos="0.1881 0.04675 0">
+                <inertial pos="-0.00406411 0.0193463 4.50733e-06" quat="0.531662 0.467526 -0.530431 0.466259" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
+                <joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
+                <geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
+                <geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
+
+                <body name="FL_thigh" pos="0 0.08 0">
+                    <inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
+                    <joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
+                    <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
+                    <body name="FL_calf" pos="0 0 -0.213">
+                        <inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
+                        <joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
+                        <geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
+                        <geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
+                        <geom name="FL" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
+                        <body name="FL_foot" pos="0 0 -0.213" />
+                    </body>
+                </body>
+            </body>
+            <body name="RR_hip" pos="-0.1881 -0.04675 0">
+                <inertial pos="0.00406411 -0.0193463 4.50733e-06" quat="0.530431 0.466259 -0.531662 0.467526" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
+                <joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
+                <geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
+                <geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
+                <geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
+                <geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
+
+                <body name="RR_thigh" pos="0 -0.08 0">
+                    <inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
+                    <joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
+                    <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
+                    <body name="RR_calf" pos="0 0 -0.213">
+                        <inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
+                        <joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
+                        <geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
+                        <geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
+                        <geom name="RR" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
+                        <body name="RR_foot" pos="0 0 -0.213" />
+                    </body>
+                </body>
+            </body>
+            <body name="RL_hip" pos="-0.1881 0.04675 0">
+                <inertial pos="0.00406411 0.0193463 4.50733e-06" quat="0.466259 0.530431 -0.467526 0.531662" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
+                <joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851"  />
+                <geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
+                <geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
+                <geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
+                <geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
+
+                <body name="RL_thigh" pos="0 0.08 0">
+                    <inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
+                    <joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
+                    <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
+                    <body name="RL_calf" pos="0 0 -0.213">
+                        <inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
+                        <joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
+                        <geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
+                        <geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
+                        <geom name="RL" size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
+                        <body name="RL_foot" pos="0 0 -0.213" />
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <actuator>
+
+        <motor name="FR_hip"       gear="1" joint="FR_hip_joint"/>
+        <motor name="FR_thigh"     gear="1" joint="FR_thigh_joint"/>
+        <motor name="FR_calf"      gear="1" joint="FR_calf_joint"/>
+        <motor name="FL_hip"       gear="1" joint="FL_hip_joint"/>
+        <motor name="FL_thigh"     gear="1" joint="FL_thigh_joint"/>
+        <motor name="FL_calf"      gear="1" joint="FL_calf_joint"/>
+        <motor name="RR_hip"       gear="1" joint="RR_hip_joint"/>
+        <motor name="RR_thigh"     gear="1" joint="RR_thigh_joint"/>
+        <motor name="RR_calf"      gear="1" joint="RR_calf_joint" />
+        <motor name="RL_hip"       gear="1" joint="RL_hip_joint"/>
+        <motor name="RL_thigh"     gear="1" joint="RL_thigh_joint"/>
+        <motor name="RL_calf"      gear="1" joint="RL_calf_joint"/>
+    </actuator>
+
+    <sensor>
+
+        <jointpos name="FR_hip_pos"     joint="FR_hip_joint"/>
+        <jointpos name="FR_thigh_pos"   joint="FR_thigh_joint"/>
+        <jointpos name="FR_calf_pos"    joint="FR_calf_joint"/>
+        <jointpos name="FL_hip_pos"     joint="FL_hip_joint"/>
+        <jointpos name="FL_thigh_pos"   joint="FL_thigh_joint"/>
+        <jointpos name="FL_calf_pos"    joint="FL_calf_joint"/>
+        <jointpos name="RR_hip_pos"     joint="RR_hip_joint"/>
+        <jointpos name="RR_thigh_pos"   joint="RR_thigh_joint"/>
+        <jointpos name="RR_calf_pos"    joint="RR_calf_joint" />
+        <jointpos name="RL_hip_pos"     joint="RL_hip_joint"/>
+        <jointpos name="RL_thigh_pos"   joint="RL_thigh_joint"/>
+        <jointpos name="RL_calf_pos"    joint="RL_calf_joint"/>
+
+        <jointvel name="FR_hip_vel"     joint="FR_hip_joint"/>
+        <jointvel name="FR_thigh_vel"   joint="FR_thigh_joint"/>
+        <jointvel name="FR_calf_vel"    joint="FR_calf_joint"/>
+        <jointvel name="FL_hip_vel"     joint="FL_hip_joint"/>
+        <jointvel name="FL_thigh_vel"   joint="FL_thigh_joint"/>
+        <jointvel name="FL_calf_vel"    joint="FL_calf_joint"/>
+        <jointvel name="RR_hip_vel"     joint="RR_hip_joint"/>
+        <jointvel name="RR_thigh_vel"   joint="RR_thigh_joint"/>
+        <jointvel name="RR_calf_vel"    joint="RR_calf_joint" />
+        <jointvel name="RL_hip_vel"     joint="RL_hip_joint"/>
+        <jointvel name="RL_thigh_vel"   joint="RL_thigh_joint"/>
+        <jointvel name="RL_calf_vel"    joint="RL_calf_joint"/>
+
+        <jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" />
+        <jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" />
+        <jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" />
+        <jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" />
+        <jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" />
+        <jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" />
+        <jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" />
+        <jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" />
+        <jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" />
+        <jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" />
+        <jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" />
+        <jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" />
+
+        <accelerometer name="Body_Acc" site="imu"/>
+
+        <gyro name="Body_Gyro" site="imu"/>
+
+        <framepos name="Body_Pos" objtype="site" objname="imu"/>
+
+        <framelinvel name="Body_LinVel" objtype="site" objname="imu"/>
+
+        <framequat name="Body_Quat" objtype="site" objname="imu"/>
+
+
+    </sensor>
+</mujoco>

deploy_45dim_rl_gym/terrains/flat.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_1.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_10.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_2.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_3.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_4.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_5.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_6.xml

@@ -0,0 +1,23 @@
+<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" />
+    <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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_7.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_8.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/obstacle/obstacle_9.xml

@@ -0,0 +1,23 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_1.xml

@@ -0,0 +1,19 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_10.xml

@@ -0,0 +1,19 @@
+<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" />
+  </worldbody>
+</mujoco>

deploy_45dim_rl_gym/terrains/slope/slope_2.xml

@@ -0,0 +1,19 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_3.xml

@@ -0,0 +1,19 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_4.xml

@@ -0,0 +1,19 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_5.xml

@@ -0,0 +1,19 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_6.xml

@@ -0,0 +1,19 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_7.xml

@@ -0,0 +1,19 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_8.xml

@@ -0,0 +1,19 @@
+<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>

deploy_45dim_rl_gym/terrains/slope/slope_9.xml

@@ -0,0 +1,19 @@
+<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" />
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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" />
+    <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>

deploy_45dim_rl_gym/terrains/slope_5.xml

@@ -0,0 +1,23 @@
+<!-- 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>

deploy_45dim_rl_gym/terrains/slope_5_old.xml

@@ -0,0 +1,23 @@
+<!-- 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="3.1101988717280613 0.0 -0.03579718002765875" type="box" size="2.050419643960795 5.0 0.5" quat="0.993833508538892 0.0 -0.110882628509953 0.0" />
+  </worldbody>
+</mujoco>

deploy_45dim_rl_gym/terrains/stairs/stairs_1.xml

@@ -0,0 +1,51 @@
+<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" />
+    <geom pos="0.155 0.0 0.04" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="0.46499999999999997 0.0 0.12" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
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deploy_45dim_rl_gym/terrains/stairs/stairs_10.xml

@@ -0,0 +1,51 @@
+<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" />
+    <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>

deploy_45dim_rl_gym/terrains/stairs/stairs_2.xml

@@ -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" />
+  <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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deploy_45dim_rl_gym/terrains/stairs/stairs_3.xml

@@ -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" />
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+  <asset>
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+    <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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deploy_45dim_rl_gym/terrains/stairs/stairs_4.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_4">
+  <!-- Terrain Type: stairs, Level: 4, Stairs step height: 0.1700 -->
+  <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>
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+    <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" />
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deploy_45dim_rl_gym/terrains/stairs/stairs_5.xml

@@ -0,0 +1,51 @@
+<mujoco model="stairs_5">
+  <!-- Terrain Type: stairs, Level: 5, Stairs step height: 0.1800 -->
+  <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" />
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+  <asset>
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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" />
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deploy_45dim_rl_gym/terrains/stairs/stairs_6.xml

@@ -0,0 +1,51 @@
+<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" />
+    <rgba haze="0.15 0.25 0.35 1" />
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+  <asset>
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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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deploy_45dim_rl_gym/terrains/stairs/stairs_7.xml

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+<mujoco model="stairs_7">
+  <!-- Terrain Type: stairs, Level: 7, Stairs step height: 0.2000 -->
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deploy_45dim_rl_gym/terrains/stairs/stairs_8.xml

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+<mujoco model="stairs_8">
+  <!-- Terrain Type: stairs, Level: 8, Stairs step height: 0.2100 -->
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+  <visual>
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deploy_45dim_rl_gym/terrains/stairs/stairs_9.xml

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+<mujoco model="stairs_9">
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+    <geom pos="8.524999999999997 0.0 6.049999999999999" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="8.834999999999997 0.0 6.269999999999999" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.144999999999998 0.0 6.489999999999998" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.454999999999998 0.0 6.709999999999998" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="9.764999999999999 0.0 6.929999999999998" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+    <geom pos="10.075 0.0 7.149999999999998" type="box" size="0.186 5.0 0.11000000000000001" quat="1.0 0.0 0.0 0.0" />
+  </worldbody>
+</mujoco>

deploy_45dim_rl_gym/terrains/wall/10x10_wall.xml

@@ -0,0 +1,14 @@
+<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>

deploy_45dim_rl_gym/terrains/wave/wave_1.xml

@@ -0,0 +1,20 @@
+<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" />
+    <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 0.08000000000000002 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>

deploy_45dim_rl_gym/terrains/wave/wave_10.xml

@@ -0,0 +1,20 @@
+<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" />
+    <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 0.8 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>

deploy_45dim_rl_gym/terrains/wave/wave_2.xml

@@ -0,0 +1,20 @@
+<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" />
+    <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 0.16000000000000003 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>

deploy_45dim_rl_gym/terrains/wave/wave_3.xml

@@ -0,0 +1,20 @@
+<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" />
+    <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 0.24 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>

deploy_45dim_rl_gym/terrains/wave/wave_4.xml

@@ -0,0 +1,20 @@
+<mujoco model="wave_4">
+  <!-- Terrain Type: wave, Level: 4, Wave amplitude: 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" />
+    <hfield name="wave_hfield" file="wave.png" size="5 5 0.32000000000000006 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>

deploy_45dim_rl_gym/terrains/wave/wave_5.xml

@@ -0,0 +1,20 @@
+<mujoco model="wave_5">
+  <!-- Terrain Type: wave, Level: 5, Wave amplitude: 0.1000 -->
+  <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" />
+    <hfield name="wave_hfield" file="wave.png" size="5 5 0.4 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>

deploy_45dim_rl_gym/terrains/wave/wave_6.xml

@@ -0,0 +1,20 @@
+<mujoco model="wave_6">
+  <!-- Terrain Type: wave, Level: 6, Wave amplitude: 0.1200 -->
+  <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" />
+    <hfield name="wave_hfield" file="wave.png" size="5 5 0.48 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>

deploy_45dim_rl_gym/terrains/wave/wave_7.xml

@@ -0,0 +1,20 @@
+<mujoco model="wave_7">
+  <!-- Terrain Type: wave, Level: 7, Wave amplitude: 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" />
+    <hfield name="wave_hfield" file="wave.png" size="5 5 0.5599999999999999 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>

deploy_45dim_rl_gym/terrains/wave/wave_8.xml

@@ -0,0 +1,20 @@
+<mujoco model="wave_8">
+  <!-- Terrain Type: wave, Level: 8, Wave amplitude: 0.1600 -->
+  <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" />
+    <hfield name="wave_hfield" file="wave.png" size="5 5 0.6400000000000001 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>

deploy_45dim_rl_gym/terrains/wave/wave_9.xml

@@ -0,0 +1,20 @@
+<mujoco model="wave_9">
+  <!-- Terrain Type: wave, Level: 9, Wave amplitude: 0.1800 -->
+  <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" />
+    <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>