Fix cross_* terrains text reverse bug
This commit is contained in:
wty-yy
78
resources/robots/go2/cross_stairs.xml
Normal file → Executable file
78
resources/robots/go2/cross_stairs.xml
Normal file → Executable file
@@ -1,6 +1,6 @@
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<mujoco model="cross_stairs_1_4_7_10">
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<include file="go2.xml"/>
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<!-- Terrain Type: cross_stairs, Level: 1_4_7_10, Cross Layout: Center Gap 2.0m. Arch step height: 0.0800 Arch step height: 0.2000 Arch step height: 0.2300 Arch step height: 0.1700 -->
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<!-- Terrain: Cross Stairs Arch, Levels: 1,4,7,10. Cross Layout: Center Gap 2.0m. Arch step height: 0.0800 Arch step height: 0.2000 Arch step height: 0.2300 Arch step height: 0.1700 -->
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<statistic center="0 0 0.1" extent="0.8" />
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
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@@ -12,13 +12,13 @@
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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" />
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
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<texture name="tex_label_1" type="2d" file="./imgs/label_1.png" />
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<material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
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<material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
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<texture name="tex_label_7" type="2d" file="./imgs/label_7.png" />
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<material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
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<material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
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<texture name="tex_label_10" type="2d" file="./imgs/label_10.png" />
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<material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
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<material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
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<texture name="tex_label_4" type="2d" file="./imgs/label_4.png" />
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<material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
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<material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
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</asset>
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<worldbody>
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<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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@@ -39,23 +39,23 @@
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<geom pos="-7.474999999999999 6.704941225331758e-16 0.19999999999999996" type="box" size="0.155 1.75 0.04" quat="6.123233995736766e-17 0.0 0.0 1.0" />
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<geom pos="-7.784999999999998 7.084581733067436e-16 0.11999999999999995" type="box" size="0.155 1.75 0.04" quat="6.123233995736766e-17 0.0 0.0 1.0" />
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<geom pos="-8.094999999999999 7.464222240803115e-16 0.03999999999999995" type="box" size="0.155 1.75 0.04" quat="6.123233995736766e-17 0.0 0.0 1.0" />
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<geom pos="-2.155 1.8982025386783976e-17 0.082" type="box" size="0.5 0.17532467532467533 0.0001" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" contype="0" conaffinity="0" group="1" material="mat_label_1" rgba="1 1 1 1" />
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<geom pos="9.491012693391988e-18 2.155 0.1" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="2.847303808017596e-17 2.465 0.30000000000000004" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="4.745506346695993e-17 2.775 0.5" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="6.64370888537439e-17 3.085 0.7" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="8.541911424052789e-17 3.395 0.8999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="1.0440113962731187e-16 3.705 1.0999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="1.2338316501409585e-16 4.015000000000001 1.2999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="1.4236519040087982e-16 4.325 1.4999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="2.0084207506016595e-16 5.28 1.4999999999999998" type="box" size="0.8 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="2.5931895971945205e-16 6.235 1.2999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="2.78300985106236e-16 6.545 1.0999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="2.9728301049301994e-16 6.8549999999999995 0.8999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="3.162650358798039e-16 7.164999999999999 0.7" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="3.352470612665879e-16 7.474999999999999 0.49999999999999994" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="3.542290866533718e-16 7.784999999999998 0.29999999999999993" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="3.7321111204015577e-16 8.094999999999999 0.09999999999999992" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865476" />
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<geom pos="-2.155 1.8982025386783976e-17 0.082" type="box" size="0.5 0.17532467532467533 0.0001" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" contype="0" conaffinity="0" group="1" material="mat_label_1" rgba="1 1 1 1" />
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<geom pos="9.491012693391988e-18 2.155 0.1" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="2.847303808017596e-17 2.465 0.30000000000000004" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="4.745506346695993e-17 2.775 0.5" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="6.64370888537439e-17 3.085 0.7" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="8.541911424052789e-17 3.395 0.8999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="1.0440113962731187e-16 3.705 1.0999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="1.2338316501409585e-16 4.015000000000001 1.2999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="1.4236519040087982e-16 4.325 1.4999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="2.0084207506016595e-16 5.28 1.4999999999999998" type="box" size="0.8 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="2.5931895971945205e-16 6.235 1.2999999999999998" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="2.78300985106236e-16 6.545 1.0999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="2.9728301049301994e-16 6.8549999999999995 0.8999999999999999" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="3.162650358798039e-16 7.164999999999999 0.7" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="3.352470612665879e-16 7.474999999999999 0.49999999999999994" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="3.542290866533718e-16 7.784999999999998 0.29999999999999993" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="3.7321111204015577e-16 8.094999999999999 0.09999999999999992" type="box" size="0.155 1.75 0.1" quat="0.7071067811865476 0.0 0.0 0.7071067811865475" />
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<geom pos="9.491012693391988e-18 2.155 0.202" type="box" size="0.5 0.17532467532467533 0.0001" quat="1.0 0.0 0.0 0.0" contype="0" conaffinity="0" group="1" material="mat_label_7" rgba="1 1 1 1" />
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<geom pos="2.155 0.0 0.115" type="box" size="0.155 1.75 0.115" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.465 0.0 0.34500000000000003" type="box" size="0.155 1.75 0.115" quat="1.0 0.0 0.0 0.0" />
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@@ -73,23 +73,23 @@
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<geom pos="8.094999999999999 0.0 0.11500000000000019" type="box" size="0.155 1.75 0.115" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.847303808017596e-17 -2.465 0.255" type="box" size="0.155 1.75 0.08499999999999999" quat="0.7071067811865476 0.0 0.0 -0.7071067811865476" />
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</worldbody>
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</mujoco>
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