[software] 添加16DOF早期训练仿真与Sim2Real闭环

2026-07-21 16:15:14 +08:00
parent 9bd22225f9
commit e9e2c946b3
681 changed files with 137221 additions and 8 deletions
@@ -0,0 +1,22 @@
+<mujoco model="wheelleg_scene">
+  <include file="wheelleg.xml"/>
+
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3"/>
+    <global azimuth="120" 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 3" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" friction="0.8 0.05 0.01"/>
+  </worldbody>
+</mujoco>