[train] 更新新MJCF与第一版完整训练框架

2026-07-27 12:31:21 +08:00
parent dfd646cf47
commit b08956aec7
116 changed files with 7649 additions and 6760 deletions
@@ -1,111 +0,0 @@
-"""Main entry point: wheeled-legged robot simulation.
-
-Controls:
-  Mode: wheel (default) - differential drive + posture hold
-        trot - quadruped gait with wheel assist
-        mpc  - convex MPC locomotion (torque control)
-
-  Keyboard (in MuJoCo viewer):
-    W/S: vel_x ±0.1
-    A/D: yaw_rate ±0.2
-    Q/E: height ±0.02
-    1: wheel mode
-    2: trot mode
-    3: MPC mode
-    4: prone toggle
-    Z: reset commands
-"""
-
-import time
-import numpy as np
-import mujoco.viewer as mjv
-
-from robot import Robot
-from controller import Controller
-from gui import GUI
-from config import CTRL_DECIMATION
-
-
-def main():
-    robot = Robot()
-    robot.reset()
-    ctrl = Controller(robot)
-    gui = GUI(ctrl)
-
-    step = 0
-    sim_steps_per_ctrl = CTRL_DECIMATION
-
-    def key_callback(keycode):
-        """Called from MuJoCo render thread - only modify ctrl directly, not tkinter."""
-        try:
-            c = chr(keycode).lower()
-        except (ValueError, OverflowError):
-            return
-        if c == 'w':
-            ctrl.vel_x = min(ctrl.vel_x + 0.1, 1.5)
-        elif c == 's':
-            ctrl.vel_x = max(ctrl.vel_x - 0.1, -1.5)
-        elif c == 'a':
-            ctrl.yaw_rate = min(ctrl.yaw_rate + 0.2, 2.0)
-        elif c == 'd':
-            ctrl.yaw_rate = max(ctrl.yaw_rate - 0.2, -2.0)
-        elif c == 'q':
-            ctrl.height = min(ctrl.height + 0.02, 0.45)
-        elif c == 'e':
-            ctrl.height = max(ctrl.height - 0.02, 0.15)
-        elif c == '1':
-            ctrl.mode = "wheel"; ctrl.prone = False
-        elif c == '2':
-            ctrl.mode = "trot"; ctrl.prone = False
-        elif c == '3':
-            ctrl.mode = "mpc"; ctrl.prone = False
-        elif c == '4':
-            ctrl.prone = not ctrl.prone
-        elif c == 'z':
-            ctrl.vel_x = 0.0; ctrl.vel_y = 0.0; ctrl.yaw_rate = 0.0
-
-    with mjv.launch_passive(robot.model, robot.data, key_callback=key_callback) as viewer:
-        viewer.cam.distance = 2.5
-        viewer.cam.elevation = -20
-        viewer.cam.azimuth = 135
-
-        last_time = robot.data.time
-
-        while viewer.is_running() and not gui.closed:
-            t_start = time.perf_counter()
-
-            # Detect viewer reset (Backspace) - time jumps back to 0
-            if robot.data.time < last_time:
-                robot.reset()
-            last_time = robot.data.time
-
-            # Get state and compute control
-            state = robot.get_state()
-            leg_targets, wheel_targets = ctrl.compute(state, robot.dt * sim_steps_per_ctrl)
-
-            # Apply control and step simulation
-            # MPC mode sets ctrl directly via set_ctrl_mit, skip set_ctrl
-            if ctrl.mode != "mpc":
-                robot.set_ctrl(leg_targets, wheel_targets)
-            for _ in range(sim_steps_per_ctrl):
-                robot.step()
-
-            viewer.sync()
-            step += 1
-
-            # Update GUI every 25 steps (~10 Hz)
-            if step % 25 == 0:
-                state = robot.get_state()
-                gui.update_status(state, step)
-                if not gui.tick():
-                    break
-
-            # Real-time sync
-            elapsed = time.perf_counter() - t_start
-            target_dt = robot.dt * sim_steps_per_ctrl
-            if elapsed < target_dt:
-                time.sleep(target_dt - elapsed)
-
-
-if __name__ == "__main__":
-    main()