cyy/go2_rl_gym
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v1.0.2; change high speed move, remove useless comments

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wty-yy
2026-01-26 16:22:01 +08:00
parent 164014325a
commit 2aed91e7ce
11 changed files with 106 additions and 203 deletions
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2
resources/robots/go2/race_track.xml
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@@ -13,7 +13,7 @@
<texture type="skybox" builtin="flat" rgb1="0 0 0" 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" />
<texture name="wood_tex" type="2d" file="./assets/wood.png" rgb1="0.6 0.4 0.2" width="512" height="512" /><material name="wood_mat" texture="wood_tex" specular="0.2" shininess="0.1" rgba="1 1 1 1" /><texture name="sponge_tex" type="2d" builtin="flat" rgb1="1.0 0.7 0.7" width="512" height="512" /><material name="mat_sponge" texture="sponge_tex" specular="0.1" shininess="0.1" rgba="1 0.7 0.7 1" /><hfield name="perlin_hfield" size="1.2 2.4 0.08 0.1" file="height_field.png" /></asset>
<texture name="wood_tex" type="2d" file="./assets/wood.png" rgb1="0.6 0.4 0.2" width="512" height="512" /><material name="wood_mat" texture="wood_tex" specular="0.2" shininess="0.1" rgba="1 1 1 1" /><texture name="sponge_tex" type="2d" builtin="flat" rgb1="0.90196 0.83922 0.56471" width="512" height="512" /><material name="mat_sponge" texture="sponge_tex" specular="0.1" shininess="0.1" rgba="1 0.7 0.7 1" /><hfield name="perlin_hfield" size="1.2 2.4 0.08 0.1" file="height_field.png" /></asset>
<worldbody>
<light pos="1 0 3.5" dir="0 0 -1" directional="true" />

7
resources/robots/go2/terrain_generator.py → resources/robots/go2/race_track_generator.py
View File

@@ -6,8 +6,8 @@ import noise
import os
ROBOT = "go2"
INPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "scene.xml")
OUTPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "scene_terrain.xml")
INPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "flat.xml")
OUTPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "race_track_tmp.xml")
PATH_DIR = Path(__file__).parent.absolute()
# zyx euler angle to quaternion
def euler_to_quat(roll, pitch, yaw):
@@ -114,7 +114,8 @@ class TerrainGenerator:
tex.attrib["name"] = "sponge_tex"
tex.attrib["type"] = "2d"
tex.attrib["builtin"] = "flat" # 使用内置平面纹理，不需要 file 路径
tex.attrib["rgb1"] = "1.0 0.7 0.7" # 设置颜色：粉色 (参考图片颜色)
# tex.attrib["rgb1"] = "1.0 0.7 0.7" # 设置颜色：粉色 (参考图片颜色)
tex.attrib["rgb1"] = "0.90196 0.83922 0.56471" # 设置颜色：黄色
tex.attrib["width"] = "512"
tex.attrib["height"] = "512"