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Fix cross_* terrains text reverse bug

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This commit is contained in:
wty-yy
2026-02-10 15:37:53 +08:00
parent ffce10c31a
commit 9666701190
3 changed files with 53 additions and 53 deletions
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4
deploy/deploy_mujoco/configs/go2.yaml
View File

@@ -3,9 +3,9 @@ policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.63
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml" # xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml" # xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml"
xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml" # xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_slope.xml" # xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_slope.xml"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_stairs.xml" xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_stairs.xml"
# Total simulation time # Total simulation time
simulation_duration: 60000000.0 simulation_duration: 60000000.0

24
resources/robots/go2/cross_slope.xml Normal file → Executable file
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@@ -12,32 +12,32 @@
<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" /> <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" /> <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
<texture name="tex_label_1" type="2d" file="./imgs/label_1.png" /> <texture name="tex_label_1" type="2d" file="./imgs/label_1.png" />
<material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" /> <material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
<texture name="tex_label_7" type="2d" file="./imgs/label_7.png" /> <texture name="tex_label_7" type="2d" file="./imgs/label_7.png" />
<material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" /> <material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
<texture name="tex_label_10" type="2d" file="./imgs/label_10.png" /> <texture name="tex_label_10" type="2d" file="./imgs/label_10.png" />
<material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" /> <material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
<texture name="tex_label_4" type="2d" file="./imgs/label_4.png" /> <texture name="tex_label_4" type="2d" file="./imgs/label_4.png" />
<material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" /> <material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
</asset> </asset>
<worldbody> <worldbody>
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</worldbody> </worldbody>
</mujoco> </mujoco>

78
resources/robots/go2/cross_stairs.xml Normal file → Executable file
View File

@@ -1,6 +1,6 @@
<mujoco model="cross_stairs_1_4_7_10"> <mujoco model="cross_stairs_1_4_7_10">
<include file="go2.xml"/> <include file="go2.xml"/>
<!-- 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 --> <!-- 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 -->
<statistic center="0 0 0.1" extent="0.8" /> <statistic center="0 0 0.1" extent="0.8" />
<visual> <visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" /> <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
@@ -12,13 +12,13 @@
<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" /> <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" /> <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
<texture name="tex_label_1" type="2d" file="./imgs/label_1.png" /> <texture name="tex_label_1" type="2d" file="./imgs/label_1.png" />
<material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" /> <material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
<texture name="tex_label_7" type="2d" file="./imgs/label_7.png" /> <texture name="tex_label_7" type="2d" file="./imgs/label_7.png" />
<material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" /> <material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
<texture name="tex_label_10" type="2d" file="./imgs/label_10.png" /> <texture name="tex_label_10" type="2d" file="./imgs/label_10.png" />
<material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" /> <material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
<texture name="tex_label_4" type="2d" file="./imgs/label_4.png" /> <texture name="tex_label_4" type="2d" file="./imgs/label_4.png" />
<material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" /> <material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 1" rgba="1 1 1 1" />
</asset> </asset>
<worldbody> <worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" /> <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
@@ -39,23 +39,23 @@
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