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update history length to 10; update readme; add demo resources; update policy files and deploy config.

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wertyuilife
2026-06-12 05:20:29 +08:00
parent f78f791275
commit 7f13461612
9 changed files with 115 additions and 10 deletions
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39
resources/go2/stairs_and_slope.xml Normal file
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<mujoco model="stairs_and_slope">
<include file="go2.xml"/>
<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="0.2"/>
</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"/>
<body name="stairs" pos="2 0 0">
<geom name="step_0" type="box" size="0.15 3.0 0.095" pos="0.15 0 0.095" rgba="1 1 1 1"/>
<geom name="step_1" type="box" size="0.15 3.0 0.095" pos="0.45 0 0.285" rgba="1 1 1 1"/>
<geom name="step_2" type="box" size="0.15 3.0 0.095" pos="0.75 0 0.475" rgba="1 1 1 1"/>
<geom name="step_3" type="box" size="0.15 3.0 0.095" pos="1.05 0 0.665" rgba="1 1 1 1"/>
<geom name="step_4" type="box" size="0.15 3.0 0.095" pos="1.35 0 0.855" rgba="1 1 1 1"/>
<geom name="step_5" type="box" size="0.15 3.0 0.095" pos="1.65 0 1.045" rgba="1 1 1 1"/>
<geom name="step_6" type="box" size="0.15 3.0 0.095" pos="1.95 0 1.235" rgba="1 1 1 1"/>
<geom name="step_7" type="box" size="0.15 3.0 0.095" pos="2.25 0 1.425" rgba="1 1 1 1"/>
<geom name="step_8" type="box" size="0.15 3.0 0.095" pos="2.55 0 1.615" rgba="1 1 1 1"/>
<geom name="step_9" type="box" size="0.15 3.0 0.095" pos="2.85 0 1.805" rgba="1 1 1 1"/>
</body>
<!-- 斜坡：从最后一阶末端（X=6）开始，向下倾斜0.4rad，水平长度约4.493m，白色 -->
<geom name="ramp" type="box" size="2.2465 3.0 0.1" pos="7.0465 0 0.95" rgba="1 1 1 1" euler="0 0.4 0"/>
</worldbody>
</mujoco>

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resources/go2/isaaclab_scene.png → resources/results/isaaclab_scene.png
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