cyy/sim2sim_mujoco_example
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

wtw init

Browse Source
This commit is contained in:
cyylinux
2026-06-21 22:41:35 +08:00
parent 8070238165
commit 0bd1294433
16 changed files with 79 additions and 1533 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
data/go1/xml/terrain/plane.xml Normal file
View File

@@ -0,0 +1 @@
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.5 0.9 0.9 0.1" material='plane' pos='0 0 0' size='0 0 1' friction="0.6 0.3 0.3"/>

12
data/go1/xml/terrain/rough.xml Normal file
View File

@@ -0,0 +1,12 @@
<!-- 模拟碎地形 -->
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.4 0.6 0.3 1" pos='0 0 0' size='0 0 1' friction="0.6 0.3 0.3"/>
<geom name='r1' type='box' size='0.15 0.1 0.03' pos='0.5 0.2 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r2' type='box' size='0.1 0.15 0.05' pos='0.8 -0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r3' type='box' size='0.12 0.08 0.04' pos='1.1 0.15 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r4' type='box' size='0.08 0.12 0.06' pos='1.4 -0.2 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r5' type='box' size='0.1 0.1 0.035' pos='1.7 0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r6' type='box' size='0.14 0.09 0.045' pos='2.0 -0.05 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r7' type='box' size='0.09 0.14 0.055' pos='0.3 0.25 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r8' type='box' size='0.11 0.07 0.025' pos='0.6 -0.15 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r9' type='box' size='0.07 0.11 0.05' pos='0.9 0.05 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r10' type='box' size='0.13 0.08 0.04' pos='1.2 -0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>

6
data/go1/xml/terrain/slope.xml Normal file
View File

@@ -0,0 +1,6 @@
<!-- 斜坡地形-->
<geom name='start_platform' type='box' size='10.0 10.0 0.1' pos='0 0 -0.06' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='start_fill' type='box' size='10.0 10.0 0.2' pos='0 0 -0.26' rgba="0.4 0.35 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='slope' type='box' size='2.5 0.3 0.1' pos='6.8 0 0.10' quat='0.258819 0 0 0.965926' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='top_platform' type='box' size='1.0 0.3 0.06' pos='8.8 0 0.16' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='slope_fill' type='box' size='2.5 0.3 0.25' pos='6.8 0 -0.15' rgba="0.4 0.35 0.3 1" friction="0.8 0.3 0.3"/>

13
data/go1/xml/terrain/stairs.xml Normal file
View File

@@ -0,0 +1,13 @@
<!-- 楼梯地形 -->
<geom name='step0' type='box' size='0.5 10.4 0.06' pos='0 0 -0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step1' type='box' size='0.5 10.4 0.06' pos='0.3 0 -0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step2' type='box' size='0.5 10.4 0.06' pos='0.6 0 0.00' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step3' type='box' size='0.5 10.4 0.06' pos='0.9 0 0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step4' type='box' size='0.5 10.4 0.06' pos='1.2 0 0.12' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step5' type='box' size='0.5 10.4 0.06' pos='1.5 0 0.18' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step6' type='box' size='0.5 10.4 0.06' pos='1.8 0 0.24' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step7' type='box' size='0.5 10.4 0.06' pos='2.1 0 0.30' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step8' type='box' size='0.5 10.4 0.06' pos='2.4 0 0.36' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step9' type='box' size='0.5 10.4 0.06' pos='2.7 0 0.42' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='platform' type='box' size='0.8 10.4 0.06' pos='3.3 0 0.45' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='fill' type='box' size='2.0 10.4 0.45' pos='1.5 0 -0.45' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>