Initialize odin1 workspace

2026-08-13 12:52:06 +08:00
1179 changed files with 1170 additions and 2389897 deletions
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-# Keep structured point-cloud assets byte-identical across platforms.
-*.pcd -text
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-# Local reference material
-/00_reference/
-
-# Python
-__pycache__/
-*.py[cod]
-.venv/
-venv/
-*.egg-info/
-.pytest_cache/
-.ruff_cache/
-.mypy_cache/
-.uv-cache/
-
-# Build outputs
-build/
-install/
-devel/
-log/
-*.o
-*.so
-*.a
-*.elf
-*.hex
-*.bin
-*.axf
-
-# Required vendored Odin runtime libraries in the early Sim2Real release
-!05_software/real/sim2real/vendored/odin1_imu/build/
-!05_software/real/sim2real/vendored/odin1_imu/build/libodin1_imu_bridge.so
-!05_software/real/sim2real/vendored/odin1_imu/lib/*.a
-!05_software/real/sim2real_v2/vendored/odin1_imu/lib/*.a
-!05_software/real/sim2real_ros2_v2/src/odin_ros_driver/lib/*.a
-!05_software/real/sim2real_ros2_v3/src/odin_ros_driver/lib/*.a
-
-# Training outputs
-logs/
-checkpoints/
-wandb/
-sim2sim_log_*.txt
-**/sim2sim_temp.xml
-**/route_check_runs/
-**/route_experiments/suite_*/
-**/tools/nav_tools/points/auto_candidates/
-
-# IDE and operating system files
-.idea/
-.vscode/
-.trae/
-.DS_Store
-Thumbs.db
-
-# Temporary and backup files
-*.Bak
-~$*
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-# 项目文档
-
-本目录用于保存 16DOF 轮足项目自身的技术文档和使用说明。
-
-当前文档结构：
-
-```text
-01_doc/
-├─ architecture/
-│  └─ early_software_stack.md  # 第一代训练—仿真—真机闭环
-├─ training_evolution.md       # v0.4～v0.6 训练架构演进
-└─ version_history.md          # 全项目 Tag 与里程碑
-```
-
-具体运行说明放在对应工程目录内，避免在顶层重复并逐渐失真：训练见 `05_software/train/rc_mjlab/`，真机部署见 `05_software/real/`。
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-# 第一代软件闭环
-
-第一代 16DOF 软件的目标是先打通“训练、仿真验证、真机执行”闭环，而不是在初期建立复杂的分布式系统。
-
-## 训练与策略
-
-`05_software/train/rc_mjlab` 使用本地修改的 mjlab 和 MuJoCo 模型训练轮腿混合策略。训练任务包括 Flat、Rough 和 Crawl，腿部 12 个关节输出位置目标，4 个轮子输出速度目标。
-
-## MuJoCo 与 Sim2Sim
-
- `mujoco_sim` 用于不加载 RL 策略时的模型、动力学和控制调试。
- `sim2sim` 加载训练策略，在独立 MuJoCo 环境中验证观测、动作、地形和导航行为。
- 两者与训练任务共同使用 `rc_mjlab/mjcf`，避免早期模型定义不一致。
-
-## 真机控制
-
- `ik_real` 先以逆运动学和轨迹插值验证电机控制链路。
- `sim2real` 再将训练策略部署到 Python 真机运行时，加入 IMU、站立、安全和 Web 调试。
-
-## 阶段特点
-
-这一版本的优势是链路完整、模块直观，便于快速验证；局限是训练、仿真和部署仍存在重复资源，Python 真机运行时的实时性和系统集成能力有限。这些问题推动了后续统一训练版本和 ROS 2/C++ 部署架构。
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-# 训练代码演进
-
-本项目将“训练代码架构”和“训练产生的模型 checkpoint”分别管理。代码、奖励、课程或观测契约发生变化时形成新的 Git 版本；同一架构下继续训练产生的模型编号作为实验和部署工件记录。
-
-| 版本 | 来源快照 | 主要目的 |
-| --- | --- | --- |
-| `v0.4.0` | `uni_mjlab(1)` | 第一份完整的新 MJCF 与新 mjlab 训练工程 |
-| `v0.5.0` | `uni_mjlab_new` | 扩大观测、延迟和动力学随机化，探索更强 Sim2Real 鲁棒性 |
-| `v0.6.0` | `best` | 面向比赛越障重新设计奖励、课程、站姿和诊断体系 |
-
-## 从随机化增强到比赛训练
-
-`v0.6.0` 不是简单地继续增大 `v0.5.0` 的随机范围。实践中重新降低了部分噪声、延迟和动力学随机化强度，并把训练重点转向可控的比赛任务课程：
-
- 投影重力噪声由 `±0.08` 调回 `±0.05`。
- 腿和轮动作最大随机延迟由 4 步调回 2 步。
- 摩擦、刚度和阻尼随机化调回较窄范围。
- 移除该阶段的连续机身外力扰动与腿部质量随机化。
- 将 x、y 和 yaw 跟踪拆成独立奖励和独立指令课程。
- 障碍由课程逐步释放，高墙训练地形改为五道重复横墙。
- 增加楼梯侧向漂移和偏航漂移惩罚。
- 增加大量只用于训练评估的误差、轮速、姿态和接触指标。
-
-这种调整反映的是从“广泛鲁棒性探索”转向“比赛场景定向优化”，不表示 `v0.5.0` 被删除；它仍由对应 Tag 完整保留。
-
-## 模型与比赛部署
-
-比赛训练可能先获得基模，再修改参数继续训练和筛选 checkpoint。最终关系为：
-
-```text
-训练代码架构：v0.6.0 / best
-比赛 Rough 策略：model_6800.onnx
-比赛真机工程：last_not_slalom_1050
-比赛得分：1050
-```
-
-`model_6800.onnx` 是比赛最终部署工件，不用模型编号替代训练代码版本号。它已随比赛部署归档；当前规范目录为 `05_software/real/sim2real_ros2_v3/policies/`。
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-# 版本演进
-
-本项目使用里程碑 Tag 保存时间演进；同一架构的小步迭代不复制目录。ROS 2 的无后缀、`_v2`、`_v3` 目录分别代表三个架构大版本，并在 `v1.1.0` 中同时保留。
-
-| Tag | 阶段 | 核心内容 |
-| --- | --- | --- |
-| `v0.1.0` | 8DOF 中期检查 | 8DOF 串联足机械与大疆 A 板实机版本 |
-| `v0.2.0` | 16DOF 机械 | 16DOF 串联轮足机械 CAD 与 STEP |
-| `v0.3.0` | 第一代软件闭环 | 早期训练、MJCF、MuJoCo、Sim2Sim、IK 与 Python Sim2Real |
-| `v0.3.1` | 实机记录 | 补充第一代 Sim2Real 实机视频 |
-| `v0.4.0` | 新训练基线 | 第一份完整的新 MJCF、新 mjlab 框架和 Rough 策略工程 |
-| `v0.5.0` | 随机化增强 | 扩大观测、延迟和动力学随机化，加入持续外力扰动 |
-| `v0.6.0` | 比赛训练架构 | 分轴奖励、自适应指令课程、障碍释放课程和比赛站姿 |
-| `v0.7.0` | MuJoCo 工具 | 姿态优化、IK 扫描、动力学、MPC 和 GUI 调试工具 |
-| `v0.8.0` | 后期 Sim2Sim | ONNX 回放、IK/路线检查工具和比赛最终 Rough 策略 |
-| `v0.8.1` | 导航打点工具 | 地图/航点编辑、路线迭代和抽样 PCD 补充包 |
-| `v0.9.0` | Python Sim2Real v2 | 反馈新鲜度、Odin odom 诊断、Web 调试和安全监控增强 |
-| `v0.10.0` | ROS 2/C++ 初版 | 50 Hz C++ 推理、200 Hz CAN 热路径和 ROS 2 系统集成 |
-| `v0.11.0` | ROS 2 导航原型 | 简单导航、PCD 交互定位、任务点和 Web 导航调试 |
-| `v0.11.1` | Odin 与站姿调参 | 完整 Odin 驱动、TensorRT、多策略切换和调参站姿 |
-| `v0.12.0` | 里程计导航联调 | 纯里程计 fallback、A_min 路线、TF 冲突保护和 model_9600 |
-| `v1.0.0` | 比赛最终部署初次归档 | last_not_slalom_1050、model_6800/model_84、最终路线和触控屏；当时暂存于无后缀目录 |
-| `v1.0.1` | 比赛成果媒体补充 | 最终机器人图片与 1050 分比赛视频 |
-| `v1.0.2` | 文档一致性修正 | 统一历史 Tag、当前快照和成果媒体的描述 |
-| `v1.1.0` | 三代目录规范化 | 恢复无后缀初版、保留 v2 里程计版、明确最终比赛 v3，并校准训练 README |
-
-> 原先临时归档为 `v0.9.0` 的最终 ROS 2/C++ 比赛部署已保存在 `backup/final-ros2-v0.9.0` 分支和 `backup-v0.9.0-ros2-final` 标签中，重排后已正式归入 `v1.0.0`。
-
-## `v0.9.0` 的 Python Sim2Real v2
-
- 归档 `real/sim2real_v2` 真机部署版本，保持 `53D -> 16D` 策略观测和动作契约。
- 增加电机反馈新鲜度判断、Odin odom 诊断、命令限加速度平滑和 Web 运行时诊断。
- 保留 Python 策略运行时、ONNX/PT 模型、MJCF、Odin 接口、Web 工具和安全保护链路。
- 排除运行日志、测试日志、临时 XML 和开发交接草稿；后续 ROS 2/C++ 版本另行归档。
-
-## `v0.10.0` 的 ROS 2/C++ Sim2Real 初版
-
- 归档 `real/sim2real_ros2`，将 Python 部署契约迁移到 ROS 2 Humble 与 C++ 运行时。
- 保留 53D 观测、16D 动作、50 Hz 策略循环和 200 Hz SocketCAN 电机热路径。
- 增加消息接口、硬件桥、策略运行时、命令仲裁、Nav2 配置、Docker 和 Windows Web 调试工具。
- 原始快照中的 `src/odin_ros_driver` 为空目录，因此本版本仍需外部 Odin 驱动，不能宣称传感器依赖已自包含。
- 保留原始候选 ONNX 文件以记录初版部署试验；排除计划、任务和 walkthrough 草稿。
-
-## `v0.11.0` 的 ROS 2 Sim2Real v2
-
- 归档 `real/sim2real_ros2_v2`，保持 `v0.10.0` 的 ROS 2/C++ 控制契约。
- 增加 `simple_nav_node.py`、PCD 点击工具、任务点/任务序列配置和 Web 导航控制入口。
- 默认命令源从遥控切换为 `NAV`，加入简单导航状态、PCD 位姿和地图显示链路。
- 原始 `map1.pcd`、`map6.pcd` 分别约 49.05 MiB、44.24 MiB，归档时确定性抽样到 10 MB 以下并记录哈希。
- 原始快照中的 Odin 驱动仍为空目录；排除设备运行日志和开发草稿。
-
-## `v0.11.1` 的 Odin、TensorRT 与站姿调参
-
- 归档 `real/sim2real_ros2_v2(z=0.380 hip=0.670 knee=-1.390)`，在同一 `sim2real_ros2_v2` 目录中记录真实差异。
- 首次随部署工程保留完整 Odin ROS 驱动、Apache-2.0 许可证、设备标定参数和预编译 SDK 静态库。
- 策略运行时增加 TensorRT、ONNX 回退、Rough/Crawl 模式切换、事件日志和更完整的电机失效诊断。
- 默认 Rough 策略为 `NEWmodel_1900`，默认站姿为髋俯仰 `0.670`、膝关节 `-1.390`；Crawl 配置使用 IK 后端。
- `map_b.pcd` 从 1,080,047 点确定性抽样为 270,012 点，并保留原始和抽样哈希。
- 排除嵌套 Git、Odin 运行日志、缓存、开发草稿和未被配置引用的候选策略。
-
-## `v0.12.0` 的里程计导航联调
-
- 归档 `real/sim2real_ros2_v2(odom)`，继续沿用 `sim2real_ros2_v2` 目录的线性演进。
- 将 Rough 策略切换为 `model_9600`，默认站姿恢复为髋俯仰 `0.550`、膝关节 `-1.125`。
- Odin `custom_map_mode` 固定为纯里程计，加入 odom 新鲜度、外部 map/odom TF 冲突和任务结束交接保护。
- 增加 A_min 路线、PCD 地图编辑工具和三份抽样点云；原始大 PCD 不直接进入 Git。
- 保留完整 Odin 驱动、标定参数和 SDK 静态库；未找到的 `map_a.bin` 仍不伪造，重定位闭环不在本 Tag 声称已复现。
-
-## `v1.0.0` 的比赛最终部署
-
- 首次归档原始 `sim2real_ros2_v2(last_not_slalom_1050)` 最终 ROS 2/C++ 真机工程；该 Tag 中暂存于无后缀 `real/sim2real_ros2`，目录命名在 `v1.1.0` 才修正为 `real/sim2real_ros2_v3`。`1050` 是比赛成绩，不是模型编号。
- Rough 使用 `model_6800`，Wall 使用 `model_84`，Crawl 按比赛配置使用 IK 后端。
- 保留最终五份路线、1 号场地抽样 PCD、Odin 驱动、CAN 硬件桥、命令仲裁、导航和 Orin 触控屏 UI。
- 最终配置默认命令源为 `NAV`、定位模式为 `relocal`，但真实 Odin `1hao.bin` 不在备份中，重定位闭环需要从比赛设备补回。
- 排除嵌套 Git、日志、备份、候选策略、构建产物和开发草稿；TensorRT engine 仅代表比赛机环境。
-
-## `v1.0.1` 的比赛成果媒体补充
-
- 保持 `v1.0.0` 的比赛最终代码和部署内容不变。
- 补充最终机器人图片和比赛视频，成绩为 1050 分、第七名（前 5%）。
- 代码复现可查看 `v1.0.0`，包含成果媒体的对应快照可查看 `v1.0.1`。
-
-## `v1.0.2` 的文档一致性修正
-
- 统一 ROS 2 历史 Tag、当前工作树和媒体补丁的说明。
- 该版本仅修正文档，没有改变训练或真机运行代码。
-
-## `v1.1.0` 的目录与说明规范化
-
- 从 `v0.10.0` 恢复无后缀 `sim2real_ros2` 初版快照。
- `sim2real_ros2_v2` 保持 `v0.12.0` 里程计联调快照。
- 将 `last_not_slalom_1050` 最终比赛部署正式命名为 `sim2real_ros2_v3`。
- 依据当前源码重新校准 `rc_mjlab` README 中的物理步长、控制频率、环境数、执行器、地形、奖励和随机化说明。
-
-## `v0.4.0` 的模型变化
-
- 机械 CAD 不变。
- MJCF 更新整机质量和惯性参数，旧、新 `wheelleg.xml` 的 SHA-256 不同。
- mjlab 上游基准从 `00409797` 更新到 `40f8d93e`。
- 保留轮腿分组执行器随机化所需的本地补丁。
- 本阶段归档 `model_rough.pt`，不将生成日志、缓存和临时 XML 纳入版本库。
-
-## `v0.5.0` 的训练变化
-
- MJCF、mjlab 基准和已有模型文件保持不变。
- 投影重力噪声由 `±0.05` 扩大到 `±0.08`。
- 腿与轮动作的最大随机延迟由 2 步增加到 4 步。
- 地面摩擦随机范围由 `0.3–1.0` 扩大到 `0.15–1.25`。
- 执行器刚度和阻尼缩放由 `0.9–1.1` 扩大到 `0.5–1.5`。
- 增加膝部和轮部质量的 `0.7–1.3` 随机缩放。
- 增加作用于机身的连续随机外力和力矩扰动。
-
-## `v0.6.0` 的比赛训练架构
-
- 保持 `v0.4.0` 引入的新 MJCF 和 mjlab 框架不变。
- 将线速度奖励拆分为 x/y 两轴，并独立配置偏航角速度奖励。
- 增加自适应 x/y/yaw 指令范围课程。
- 增加障碍地形逐步释放与更严格的地形晋级逻辑。
- 增加楼梯横向速度和偏航漂移约束。
- 默认站姿调整为髋俯仰 `0.550`、膝关节 `-1.125`，初始机身高度为 `0.42 m`。
- 增加速度误差、轮速跟踪、动作和姿态等训练诊断指标。
- 该 Tag 保存比赛训练代码架构，不把每次继续训练产生的 checkpoint 误记为新的软件版本。
-
-训练阶段的详细关系见 [`training_evolution.md`](training_evolution.md)。
-
-## `v0.7.0` 的独立 MuJoCo 工具
-
- 比赛训练架构、MJCF、模型和依赖锁文件保持 `v0.6.0` 状态不变。
- 增加解析姿态表、RL 友好姿态筛选和 MuJoCo 静态姿态优化。
- 增加 IK/差速轮参数扫描，可导出 JSON 结果。
- 增加 Robot、Controller、Dynamics、MPCController 和 GUI 调试链路。
- 记录历史工具常量与新版 MJCF 质量、比赛默认站姿之间的参数边界，避免将分析结果直接当作已校准真机参数。
-
-## `v0.8.0` 的后期 Sim2Sim
-
- 比赛训练任务、MJCF 和 `v0.7.0` 的 MuJoCo 工具保持不变。
- 策略运行器增加 ONNX 加载，并允许在缺少 `pynput` 时关闭后台键盘监听继续运行。
- MuJoCo 执行器重建同时兼容新旧 Spec 删除接口。
- 增加 PT→ONNX 导出、IK 补偿扫描、纯 IK 绕桩和 ONNX 批量路线检查入口。
- 归档比赛最终 Rough 策略 `model_6800.onnx`；其 SHA-256 为 `3C994BDD3434AD15770A52AC0E8D229F502F00D6511CDD42C2E2C742301AEF13`。
- Crawl 权重、运行日志、临时 XML 和大量重复路线实验不在本阶段归档。
-
-## `v0.8.1` 的导航打点工具
-
- 补充 Pygame 地图/PCD/航点综合编辑器、避障区域编辑器和坐标变换工具。
- 补充路线安全检查、候选航点优化、XML/航点镜像和批量 Sim2Sim 实验入口。
- 按源文件时间保留 14 份比赛路线 JSON，不将开发期文件名误解释为正式版本号。
- 补充 `1hao.xml`、`2hao.xml`、`A_C.xml`，并为 `1B_FF.json` 补齐其引用的 `B_C.xml`。
- 将两份约 915 MiB 的原始 ASCII PCD 确定性抽样为各小于 10 MB 的预览点云；抽样参数、点数和哈希记录在工具 README。
- 训练代码、MJCF、比赛策略和历史依赖锁保持 `v0.8.0` 状态不变。
@@ -1,5 +0,0 @@
-# SolidWorks 源文件
-
-`solidworks/` 保留原始装配层级和文件名。
-
-建议使用 `solidworks/WEEKDOG.SLDASM` 作为整机入口。`26版sw单件/` 包含组成整机的单件和子装配体，不应随意改名或拆散。
@@ -1,40 +0,0 @@
-# 16DOF 串联轮足机械
-
-本目录保存山东华宇工学院 16DOF 串联轮足机器人的机械设计资料。
-
-机器人由 12 个腿部关节和 4 个驱动轮组成，共 16 个执行器。源资料说明其使用 SolidWorks 26 版本完成设计、装配和 URDF 导出准备。
-
-## 目录结构
-
-```text
-02_mechanical/
-├─ CAD/
-│  └─ solidworks/
-│     ├─ WEEKDOG.SLDASM       # 整机装配体入口
-│     ├─ 轮子完整.SLDASM        # 轮组装配体
-│     ├─ 轮毂垫片.SLDPRT        # 独立零件
-│     └─ 26版sw单件/            # 单件与子装配体
-├─ STEP/
-│  ├─ WEEKDOG.STEP            # 整机通用交换文件
-│  └─ *.STEP                  # 身体、关节、腿部和轮组
-└─ source_notes.txt           # 原始资料说明
-```
-
-## 文件统计
-
- SolidWorks 装配体：4 个 `*.SLDASM`
- SolidWorks 零件：26 个 `*.SLDPRT`
- STEP 文件：10 个
-
-## 使用方式
-
- 需要继续编辑设计时，从 `CAD/solidworks/WEEKDOG.SLDASM` 打开整机。
- 只需查看、测量或导入其他 CAD 软件时，使用 `STEP/WEEKDOG.STEP`。
- 子部件调试可以使用身体、髋关节、大腿、轮小腿和轮组 STEP。
- 为避免装配引用丢失，不要单独移动或重命名 `CAD/solidworks` 内部文件。
-
-## 当前缺项
-
- 尚未提供关键零件二维 PDF 工程图。
- 尚未形成 BOM、装配步骤和干涉检查报告。
- 尚未核对 CAD 参数与训练使用的 URDF/MJCF 是否完全一致。
@@ -1,11 +0,0 @@
-# STEP 交换文件
-
-本目录提供不依赖 SolidWorks 的通用机械交换文件。
-
- `WEEKDOG.STEP`：整机
- `DOG身体.STEP`：机器人身体
- `髋关节END.STEP`：髋关节
- `大腿.STEP`：大腿组件
- `轮小腿.STEP`：轮足小腿组件
- `轮子完整.STEP`：完整轮组
- 其余文件：轮子、轮毂垫片和连接零件
@@ -1,660 +0,0 @@
-ISO-10303-21;
-HEADER;
-FILE_DESCRIPTION (( 'STEP AP214' ),
-    '1' );
-FILE_NAME ('ÂÖì±µæÆ¬.STEP',
-    '2026-04-27T05:39:26',
-    ( '' ),
-    ( '' ),
-    'SwSTEP 2.0',
-    'SolidWorks 2026',
-    '' );
-FILE_SCHEMA (( 'AUTOMOTIVE_DESIGN' ));
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@@ -1 +0,0 @@
-机械设计采用26版本sw设计，装配，以及urdf导出，为减少sw装配出现问题，采用单件装配小件各个关节装配体，转step关节文件，step各关节装配总装配体方案
@@ -1,7 +0,0 @@
-# 硬件
-
-本目录用于保存 16DOF 轮足机器人的自研电路、接线图、BOM、传感器与计算平台说明。
-
-第三方硬件资料不作为自研成果提交。
-
-当前目录仅有范围说明，尚未归档 16DOF 平台的自研原理图、PCB、BOM 或正式接线图，不应将本目录视为已完成的硬件开源包。
@@ -1,7 +0,0 @@
-# 嵌入式固件
-
-本目录用于保存运行在 MCU 或其他嵌入式控制器上的固件源码和构建工程。
-
-编译生成的 `.hex`、`.bin`、`.elf`、`.axf` 等文件不进入源码目录，可在需要时作为 Release 附件发布。
-
-当前 16DOF 主线尚未在本目录归档 MCU/Keil 工程；该目录是预留入口。8DOF 大疆 A 板 Keil 工程由 `8dof` 分支和 `v0.1.0` 保存。
@@ -1,45 +0,0 @@
-# 软件
-
-本目录保存 16DOF 轮足机器人的训练、仿真和真机软件演进。
-
-```text
-05_software/
-├─ train/
-│  └─ rc_mjlab/       # 训练、MJCF、MuJoCo、Sim2Sim 和本地 mjlab 依赖
-└─ real/
-   ├─ ik_real/        # IK 轨迹与早期真机控制
-   ├─ sim2real/       # 第一代 Python 策略真机部署
-   ├─ sim2real_v2/    # Python Sim2Real v2
-   ├─ sim2real_ros2/  # ROS 2/C++ Sim2Real 初版
-   ├─ sim2real_ros2_v2/ # ROS 2 导航原型及里程计演进
-   └─ sim2real_ros2_v3/ # 最终比赛 ROS 2/C++ 部署
-```
-
-当前工作树按架构大版本同时保留三个 ROS 2 目录：无后缀目录是初版，`_v2` 是第二版演进的最终里程计快照，`_v3` 是 `last_not_slalom_1050` 最终比赛部署。各目录内部的小阶段仍可通过对应 Tag 恢复。
-
-## 数据流
-
-```text
-MJCF + mjlab task
-        |
-        v
-   PPO 训练策略
-        |
-        +----> MuJoCo 姿态 / IK / MPC 调试
-        |
-        +----> Sim2Sim 策略验证
-        |
-        +----> Python Sim2Real / v2 ----> 电机 / IMU
-        |
-        +----> ROS 2/C++ Sim2Real -----> CAN / IMU / 导航
-
-IK real --------------------------------> 电机
-```
-
-`rc_mjlab` 是自包含工程。训练、MJCF、MuJoCo、Sim2Sim、导航工具和策略权重通过相对路径绑定，因此保留其内部布局，没有为了目录外观拆散。第一代完整闭环见 `v0.3.0`，第一份新版 MJCF 与训练框架见 `v0.4.0`，随机化增强版见 `v0.5.0`，比赛最终训练架构见 `v0.6.0`，后期 MuJoCo 工具集见 `v0.7.0`，后期 Sim2Sim 与比赛 Rough 策略见 `v0.8.0`，完整导航打点工具见 `v0.8.1`，Python Sim2Real v2 对应 `v0.9.0`，ROS 2/C++ 初版对应 `v0.10.0`，简单导航原型对应 `v0.11.0`，完整 Odin/TensorRT 与站姿调参对应 `v0.11.1`，纯里程计导航联调对应 `v0.12.0`，1050 分比赛最终部署对应 `v1.0.0`。
-
-详细说明见：
-
- [`train/README.md`](train/README.md)
- [`real/README.md`](real/README.md)
- [`../01_doc/architecture/early_software_stack.md`](../01_doc/architecture/early_software_stack.md)
@@ -1,51 +0,0 @@
-# 真机控制版本演进
-
-本目录保存 16DOF 轮足机器人从早期 Python 闭环到 ROS 2 部署的真机控制演进。
-
-## `ik_real`
-
-基于几何逆运动学和轨迹插值的真机控制探索，不依赖强化学习策略。主要用于验证电机接口、关节映射和姿态轨迹。
-
-## `sim2real`
-
-第一代 Python 策略部署栈，包含：
-
- 53D 观测到 16D 动作的策略运行时
- 电机映射和真机 IO
- IMU 接入
- 站立初始化与平衡
- 运行时安全检查和阻尼刹车
- Web 调试界面
- 对齐、标定和独立检查工具
-
-部署说明见 [`sim2real/README.md`](sim2real/README.md) 与 [`sim2real/DEPLOYMENT.md`](sim2real/DEPLOYMENT.md)。
-
-## `sim2real_v2`
-
-Python Sim2Real v2，保留 `53D -> 16D` 策略接口，并增加电机反馈新鲜度、Odin odom 诊断、命令平滑、Web 运行时诊断和安全监控工具，对应 `v0.9.0`。
-
-部署说明见 [`sim2real_v2/README.md`](sim2real_v2/README.md) 与 [`sim2real_v2/DEPLOYMENT.md`](sim2real_v2/DEPLOYMENT.md)。
-
-## ROS 2/C++ 版本线
-
-### `sim2real_ros2`（初版，`v0.10.0`）
-
-无后缀目录固定表示 ROS 2/C++ Sim2Real 初版：将策略热路径迁移为 50 Hz C++ 推理和 200 Hz CAN 电机循环，并加入 ROS 2 消息、命令仲裁、Nav2 与统一启动结构。原始快照未随工程保存 Odin ROS 2 驱动源码，依赖边界见 [`sim2real_ros2/README.md`](sim2real_ros2/README.md)。
-
-### `sim2real_ros2_v2`（`v0.11.0`～`v0.12.0`）
-
-在 `v0.11.0` 中，该目录是 ROS 2 Sim2Real v2 导航原型，增加简单导航节点、PCD 交互定位、任务点/任务序列和 Web 导航调试。
-
-`v0.11.1` 在同一路径继续演进，首次归档完整 Odin 驱动、TensorRT、多策略切换和硬件诊断，并使用 `hip=0.670`、`knee=-1.390` 的调参站姿。
-
-`v0.12.0` 仍在同一路径上形成里程计导航联调快照：固定纯里程计模式，加入 odom fallback 的 TF 冲突保护、A_min 路线和多地图工具；默认 Rough 策略为 `model_9600`，默认站姿回到比赛站姿。当前该目录保持 `v0.12.0` 快照，阶段说明见 [`sim2real_ros2_v2/README.md`](sim2real_ros2_v2/README.md)。
-
-### `sim2real_ros2_v3`（最终比赛版；代码快照 `v1.0.0`，规范目录 `v1.1.0`）
-
-第三版来自原始目录 `sim2real_ros2_v2(last_not_slalom_1050)`，整理时正式命名为 `sim2real_ros2_v3`。它是 1050 分比赛最终部署，包含 `model_6800` Rough、`model_84` Wall、最终路线、完整 Odin 驱动、CAN 和触控屏。部署说明见 [`sim2real_ros2_v3/README.md`](sim2real_ros2_v3/README.md)。
-
-## 实机记录
-
-[![第一代 Sim2Real 真机验证](../../06_assets/images/early_sim2real_preview.jpg)](../../06_assets/videos/early_sim2real.mp4)
-
-该视频记录了这一阶段的早期真机测试，用于对应本目录中的第一代控制与部署实现。
@@ -1,9 +0,0 @@
-# IK 真机控制探索
-
-该目录保存强化学习部署前的逆运动学真机控制代码。
-
- `sim2real_control_api.py`：真机控制接口
- `trajectory_interpolator.py`：关节/姿态轨迹插值
- `sim_to_real_deploy_beifen.py`：早期部署脚本备份
-
-文件名中的 `beifen` 来自原始资料。为保持早期版本可追溯性，本次归档不修改源码和文件名。
@@ -1,274 +0,0 @@
-"""Sim-to-real control/IK API extracted from mature mujoco_sim controller.
-
-This module provides a deployment-friendly wrapper around:
- wheel mode posture control
- trot swing-leg IK + wheel assist
- differential wheel speed mapping
-
-No MuJoCo runtime is required for using the API itself.
-For trot IK, Pinocchio model is used via Dynamics.
-"""
-
-from dataclasses import dataclass
-from typing import Dict, Optional, Tuple
-import numpy as np
-
-from config import (
-    LEG_NAMES,
-    LEG_JOINTS,
-    WHEEL_JOINT,
-    DEFAULT_JOINT_ANGLES,
-    WHEEL_RADIUS,
-    WHEEL_TRACK,
-    WHEEL_VEL_MAX,
-    KP_ROLL,
-    KP_PITCH,
-    GAIT_FREQ,
-    GAIT_DUTY,
-    SWING_HEIGHT,
-    PHASE_OFFSETS,
-)
-from dynamics import Dynamics
-
-
-@dataclass
-class DeployState:
-    """Minimal state for deployment control."""
-
-    rpy: np.ndarray  # (3,) roll, pitch, yaw
-
-
-class Sim2RealControlAPI:
-    """Deployment-friendly control and IK API.
-
-    Supported modes:
-    - wheel: wheel differential drive + leg posture hold
-    - trot: swing foot IK + stance posture + wheel assist
-    """
-
-    def __init__(self):
-        self.mode = "wheel"
-        self.prone = False
-
-        self.vel_x = 0.0
-        self.vel_y = 0.0
-        self.yaw_rate = 0.0
-        self.height = 0.33
-
-        self._gait_phase = 0.0
-        self._smooth_vx = 0.0
-        self._smooth_vy = 0.0
-        self._smooth_yaw = 0.0
-
-        self._default_q = np.array([
-            DEFAULT_JOINT_ANGLES["hip_abduction"],
-            DEFAULT_JOINT_ANGLES["hip_pitch"],
-            DEFAULT_JOINT_ANGLES["knee"],
-        ])
-
-        self.dynamics = Dynamics()
-        self._swing_start_foot = {leg: np.zeros(3) for leg in LEG_NAMES}
-        self._last_contact = {leg: True for leg in LEG_NAMES}
-
-    def set_mode(self, mode: str):
-        if mode not in ("wheel", "trot"):
-            raise ValueError("mode must be one of: wheel, trot")
-        self.mode = mode
-
-    def set_command(self, vel_x: float, vel_y: float, yaw_rate: float, height: Optional[float] = None):
-        self.vel_x = float(vel_x)
-        self.vel_y = float(vel_y)
-        self.yaw_rate = float(yaw_rate)
-        if height is not None:
-            self.height = float(height)
-
-    def compute(
-        self,
-        state: DeployState,
-        dt: float,
-        q_pin: Optional[np.ndarray] = None,
-        dq_pin: Optional[np.ndarray] = None,
-    ) -> Tuple[np.ndarray, np.ndarray]:
-        """Compute leg and wheel commands.
-
-        Returns:
-            leg_targets: (12,) [fl(3), fr(3), rl(3), rr(3)]
-            wheel_targets: (4,) [fl, fr, rl, rr] in rad/s
-
-        Notes:
-            - wheel mode does not require q_pin/dq_pin
-            - trot mode requires q_pin/dq_pin for IK/FK through Pinocchio
-        """
-        alpha = min(float(dt) * 3.0, 1.0)
-        self._smooth_vx += alpha * (self.vel_x - self._smooth_vx)
-        self._smooth_vy += alpha * (self.vel_y - self._smooth_vy)
-        self._smooth_yaw += alpha * (self.yaw_rate - self._smooth_yaw)
-
-        if self.prone:
-            return self._prone_mode()
-
-        if self.mode == "wheel":
-            return self._wheel_mode(state)
-
-        if q_pin is None or dq_pin is None:
-            raise ValueError("trot mode requires q_pin and dq_pin")
-        return self._trot_mode(state, float(dt), q_pin, dq_pin)
-
-    def to_joint_dict(self, leg_targets: np.ndarray, wheel_targets: np.ndarray) -> Dict[str, float]:
-        """Convert array commands to named joint-command dictionary."""
-        out: Dict[str, float] = {}
-        for i, leg in enumerate(LEG_NAMES):
-            out[f"{leg}_{LEG_JOINTS[0]}"] = float(leg_targets[i * 3 + 0])
-            out[f"{leg}_{LEG_JOINTS[1]}"] = float(leg_targets[i * 3 + 1])
-            out[f"{leg}_{LEG_JOINTS[2]}"] = float(leg_targets[i * 3 + 2])
-            out[f"{leg}_{WHEEL_JOINT}"] = float(wheel_targets[i])
-        return out
-
-    def _prone_mode(self):
-        leg_targets = np.zeros(12)
-        for i, leg in enumerate(LEG_NAMES):
-            side = 1.0 if leg[1] == "l" else -1.0
-            leg_targets[i * 3 + 0] = side * 0.3
-            leg_targets[i * 3 + 1] = 1.5
-            leg_targets[i * 3 + 2] = -2.65
-        return leg_targets, np.zeros(4)
-
-    def _wheel_mode(self, state: DeployState):
-        wheel_targets = self._differential_drive(self._smooth_vx, self._smooth_yaw)
-        leg_targets = self._posture_control(state)
-        return leg_targets, wheel_targets
-
-    def _posture_control(self, state: DeployState) -> np.ndarray:
-        leg_targets = np.zeros(12)
-
-        _H = [0.157, 0.248, 0.311, 0.366, 0.411, 0.448]
-        _HIP = [1.5, 1.2, 1.0, 0.8, 0.6, 0.4]
-        _KNEE = [-2.5, -2.1, -1.8, -1.5, -1.2, -0.9]
-
-        h_clamp = np.clip(self.height, _H[0], _H[-1])
-        q_hip_base = float(np.interp(h_clamp, _H, _HIP))
-        q_knee_base = float(np.interp(h_clamp, _H, _KNEE))
-
-        roll_corr = -KP_ROLL * float(state.rpy[0])
-        pitch_corr = -KP_PITCH * float(state.rpy[1])
-        lateral_lean = 0.3 * self.vel_y
-
-        for i, leg in enumerate(LEG_NAMES):
-            side = 1.0 if leg[1] == "l" else -1.0
-            leg_targets[i * 3 + 0] = np.clip(side * roll_corr + lateral_lean, -0.5, 0.5)
-            leg_targets[i * 3 + 1] = np.clip(q_hip_base + pitch_corr, -1.0, 2.5)
-            leg_targets[i * 3 + 2] = np.clip(q_knee_base, -2.6, -0.3)
-
-        return leg_targets
-
-    def _trot_mode(self, state: DeployState, dt: float, q_pin: np.ndarray, dq_pin: np.ndarray):
-        self._gait_phase = (self._gait_phase + dt * GAIT_FREQ) % 1.0
-
-        contacts: Dict[str, bool] = {}
-        for leg in LEG_NAMES:
-            phase = (self._gait_phase + PHASE_OFFSETS[leg]) % 1.0
-            contacts[leg] = bool(phase < GAIT_DUTY)
-
-        self.dynamics.update(q_pin, dq_pin)
-
-        leg_targets = np.zeros(12)
-        wheel_targets = np.zeros(4)
-
-        for i, leg in enumerate(LEG_NAMES):
-            if contacts[leg]:
-                leg_targets[i * 3:(i + 1) * 3] = self._stance_leg_target(state, leg)
-                self._swing_start_foot[leg] = self.dynamics.get_foot_pos(leg)
-                self._last_contact[leg] = True
-                wheel_targets[i] = self._differential_drive_single(self._smooth_vx, self._smooth_yaw, leg)
-            else:
-                swing_phase = self._get_swing_phase(leg)
-                target_foot = self._compute_swing_target(leg, state, swing_phase)
-                q_ik = self.dynamics.inverse_kinematics(leg, target_foot, q_pin)
-                leg_targets[i * 3:(i + 1) * 3] = q_ik
-                self._last_contact[leg] = False
-                wheel_targets[i] = 0.0
-
-        return leg_targets, wheel_targets
-
-    def _stance_leg_target(self, state: DeployState, leg: str) -> np.ndarray:
-        _H = [0.157, 0.248, 0.311, 0.366, 0.411, 0.448]
-        _HIP = [1.5, 1.2, 1.0, 0.8, 0.6, 0.4]
-        _KNEE = [-2.5, -2.1, -1.8, -1.5, -1.2, -0.9]
-
-        h_clamp = np.clip(self.height, _H[0], _H[-1])
-        q_hip = float(np.interp(h_clamp, _H, _HIP))
-        q_knee = float(np.interp(h_clamp, _H, _KNEE))
-
-        roll_corr = -KP_ROLL * float(state.rpy[0])
-        pitch_corr = -KP_PITCH * float(state.rpy[1])
-        side = 1.0 if leg[1] == "l" else -1.0
-        lateral_lean = 0.3 * self.vel_y
-
-        return np.array([
-            np.clip(side * roll_corr + lateral_lean, -0.5, 0.5),
-            np.clip(q_hip + pitch_corr, -1.0, 2.5),
-            np.clip(q_knee, -2.6, -0.3),
-        ])
-
-    def _differential_drive(self, vel_x: float, yaw_rate: float) -> np.ndarray:
-        vel_left = (vel_x - 0.5 * WHEEL_TRACK * yaw_rate) / WHEEL_RADIUS
-        vel_right = (vel_x + 0.5 * WHEEL_TRACK * yaw_rate) / WHEEL_RADIUS
-        targets = np.zeros(4)
-        for i, leg in enumerate(LEG_NAMES):
-            targets[i] = vel_left if leg[1] == "l" else vel_right
-        return np.clip(targets, -WHEEL_VEL_MAX, WHEEL_VEL_MAX)
-
-    def _differential_drive_single(self, vel_x: float, yaw_rate: float, leg: str) -> float:
-        if leg[1] == "l":
-            v = (vel_x - 0.5 * WHEEL_TRACK * yaw_rate) / WHEEL_RADIUS
-        else:
-            v = (vel_x + 0.5 * WHEEL_TRACK * yaw_rate) / WHEEL_RADIUS
-        return float(np.clip(v, -WHEEL_VEL_MAX, WHEEL_VEL_MAX))
-
-    def _get_swing_phase(self, leg: str) -> float:
-        phase = (self._gait_phase + PHASE_OFFSETS[leg]) % 1.0
-        if phase < GAIT_DUTY:
-            return 0.0
-        return (phase - GAIT_DUTY) / (1.0 - GAIT_DUTY)
-
-    def _compute_swing_target(self, leg: str, state: DeployState, swing_phase: float) -> np.ndarray:
-        p_start = self._swing_start_foot[leg]
-        p_end = self._compute_touchdown(leg, state)
-
-        s = swing_phase
-        s_mj = 10 * s**3 - 15 * s**4 + 6 * s**5
-
-        pos = p_start + (p_end - p_start) * s_mj
-
-        z_lift = 64.0 * s**3 * (1.0 - s)**3
-        pos[2] = p_start[2] + SWING_HEIGHT * z_lift
-
-        return pos
-
-    def _compute_touchdown(self, leg: str, state: DeployState) -> np.ndarray:
-        td = self._swing_start_foot[leg].copy()
-
-        t_stance = (1.0 / GAIT_FREQ) * GAIT_DUTY
-        yaw = float(state.rpy[2])
-        c, s = np.cos(yaw), np.sin(yaw)
-        R_z = np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]])
-        cmd_vel_world = R_z @ np.array([self._smooth_vx, self._smooth_vy, 0.0])
-
-        td[0] += cmd_vel_world[0] * t_stance * 0.5
-        td[1] += cmd_vel_world[1] * t_stance * 0.5
-        td[2] = WHEEL_RADIUS
-        return td
-
-
-if __name__ == "__main__":
-    api = Sim2RealControlAPI()
-    api.set_mode("wheel")
-    api.set_command(vel_x=0.3, vel_y=0.0, yaw_rate=0.0, height=0.33)
-
-    state = DeployState(rpy=np.array([0.0, 0.0, 0.0]))
-    leg, wheel = api.compute(state=state, dt=0.004)
-    cmd = api.to_joint_dict(leg, wheel)
-
-    print("Example wheel-mode command:")
-    for k, v in sorted(cmd.items()):
-        print(f"{k}: {v:.6f}")
@@ -1,234 +0,0 @@
-#!/usr/bin/env python3
-import argparse, sys, threading, time
-from dataclasses import dataclass
-from pathlib import Path
-import numpy as np
-
-sys.path.append('/home/rc2/work/rcwork/control')
-from drivers.motor_driver import RobStrideDriver
-
-ROOT = Path('/home/rc2/work/rcwork/wheelleg_deploy_swj/wheelleg_deploy/wheelleg_mjlab/beifen')
-sys.path += [str(ROOT), str(ROOT / 'mujoco_sim')]
-from sim2real_control_api import DeployState, Sim2RealControlAPI  # type: ignore
-
-sys.path.append('/home/rc2/work/rcwork')
-from trajectory_interpolator import TrajectoryInterpolator
-
-LEGS = ('fl','fr','rl','rr')
-LJ = ('hip_abduction_joint','hip_pitch_joint','knee_joint')
-WJ = 'wheel_joint'
-JNS = [f'{l}_{j}' for l in LEGS for j in (*LJ, WJ)]
-
-@dataclass
-class Cfg:
-    mid:int; model:str; sign:float; off:float; bus:str
-
-class Deploy:
-    def __init__(self, can1, can2, hz=100.0, use_interpolation=True, interp_method='quintic', interp_time=1.5):
-        self.d1, self.d2 = RobStrideDriver(can1, False), RobStrideDriver(can2, False)
-        self.api = Sim2RealControlAPI(); self.dt = 1.0/hz; self.lk = threading.Lock()
-        self.run = False; self.enabled = False; self.estop = True
-        self.mode='stand'; self.vx=0.0; self.vy=0.0; self.yaw=0.0; self.h=0.33; self.roll=0.0; self.pitch=0.0
-        self.prone = False
-        self.kp_leg, self.kd_leg, self.kd_wheel = 80.0, 2.5, 2.0
-        self.cfg = self._cfg(); self.q=np.zeros(23); self.dq=np.zeros(22)
-        
-        self.use_interpolation = use_interpolation
-        if self.use_interpolation:
-            self.interpolator = TrajectoryInterpolator(method=interp_method, transition_time=interp_time)
-            print(f'[Interpolation] Enabled: method={interp_method}, transition_time={interp_time}s')
-        else:
-            self.interpolator = None
-            print('[Interpolation] Disabled')
-
-    def _cfg(self):
-        sign={'fl_hip_abduction_joint':-1,'fl_hip_pitch_joint':-1,'fl_knee_joint':-1,'fl_wheel_joint':-1,'fr_hip_abduction_joint':-1,'fr_hip_pitch_joint':1,'fr_knee_joint':1,'fr_wheel_joint':1,'rl_hip_abduction_joint':1,'rl_hip_pitch_joint':-1,'rl_knee_joint':-1,'rl_wheel_joint':-1,'rr_hip_abduction_joint':1,'rr_hip_pitch_joint':1,'rr_knee_joint':1,'rr_wheel_joint':1}
-        off={'fl_hip_abduction_joint':0.003,'fl_hip_pitch_joint':0.030,'fl_knee_joint':0.028,'fl_wheel_joint':0.0,'fr_hip_abduction_joint':0.004,'fr_hip_pitch_joint':0.038,'fr_knee_joint':0.011,'fr_wheel_joint':0.0,'rl_hip_abduction_joint':0.019,'rl_hip_pitch_joint':-0.034,'rl_knee_joint':0.025,'rl_wheel_joint':0.0,'rr_hip_abduction_joint':-0.001,'rr_hip_pitch_joint':0.039,'rr_knee_joint':0.018,'rr_wheel_joint':0.0}
-        ids={'fl_hip_abduction_joint':1,'fl_hip_pitch_joint':2,'fl_knee_joint':3,'fl_wheel_joint':4,'fr_hip_abduction_joint':5,'fr_hip_pitch_joint':6,'fr_knee_joint':7,'fr_wheel_joint':8,'rl_hip_abduction_joint':1,'rl_hip_pitch_joint':2,'rl_knee_joint':3,'rl_wheel_joint':4,'rr_hip_abduction_joint':5,'rr_hip_pitch_joint':6,'rr_knee_joint':7,'rr_wheel_joint':8}
-        bus={k:('can1' if k.startswith('f') else 'can2') for k in JNS}
-        return {jn:Cfg(ids[jn],'rs-06',float(sign[jn]),float(off[jn]),bus[jn]) for jn in JNS}
-
-    def _drv(self, jn): return self.d1 if self.cfg[jn].bus=='can1' else self.d2
-
-    def connect(self):
-        self.d1.connect(); self.d2.connect()
-        for jn,c in self.cfg.items(): self._drv(jn).add_motor(jn,c.mid,c.model)
-
-    def enable_all(self):
-        for jn in JNS: self._drv(jn).enable(jn)
-        with self.lk: self.enabled=True; self.estop=False; self.vx=self.vy=self.yaw=0.0
-
-    def disable_all(self):
-        for jn in JNS: self._drv(jn).disable(jn)
-        with self.lk: self.enabled=False
-
-    def clear(self):
-        for jn in JNS: self._drv(jn).clear_warnings(jn)
-
-    def set_estop(self,on):
-        with self.lk:
-            self.estop=on
-            if on: self.vx=self.vy=self.yaw=0.0
-        if on: self.disable_all()
-
-    def set_prone(self,on):
-        with self.lk: self.prone=on; self.api.prone=on
-
-    def _update_pin(self,leg,wheel):
-        q=np.zeros(23); dq=np.zeros(22); q[2]=self.h; q[6]=1.0
-        for i,_ in enumerate(LEGS):
-            b=7+i*4; q[b:b+3]=leg[i*3:i*3+3]; dq[6+i*4+3]=wheel[i]
-        self.q,self.dq=q,dq
-
-    def step(self):
-        with self.lk:
-            if self.estop or (not self.enabled): return
-            m=self.mode; vx=float(np.clip(self.vx,-0.8,0.8)); vy=float(np.clip(self.vy,-0.5,0.5)); yaw=float(np.clip(self.yaw,-3,3)); h=float(np.clip(self.h,0.157,0.448)); r=float(np.clip(self.roll,-0.4,0.4)); p=float(np.clip(self.pitch,-0.4,0.4)); prone=self.prone
-        cm='trot' if m=='trot' else 'wheel'
-        if m=='stand': vx=vy=yaw=0.0
-        self.api.prone=prone; self.api.set_mode(cm); self.api.set_command(vx,vy,yaw,height=h)
-        st=DeployState(rpy=np.array([r,p,0.0]))
-        leg,wheel = self.api.compute(st,self.dt,self.q,self.dq) if cm=='trot' else self.api.compute(st,self.dt)
-        self._update_pin(leg,wheel); cmd=self.api.to_joint_dict(leg,wheel)
-        
-        if self.use_interpolation and self.interpolator is not None:
-            leg_cmd = {jn: cmd[jn] for jn in JNS if not jn.endswith(WJ)}
-            self.interpolator.set_target(leg_cmd)
-            smooth_cmd = self.interpolator.update(self.dt)
-            for jn in leg_cmd:
-                cmd[jn] = smooth_cmd[jn]
-        
-        for jn in JNS:
-            d=self._drv(jn); c=self.cfg[jn]
-            if jn.endswith(WJ): d.control_mit(jn,0.0,c.sign*float(cmd.get(jn,0.0)),0.0,self.kd_wheel,0.0)
-            else: d.control_mit(jn,c.sign*float(cmd[jn])+c.off,0.0,self.kp_leg,self.kd_leg,0.0)
-
-    def loop(self):
-        while self.run:
-            t=time.time()
-            try: self.step()
-            except Exception as e: print('[control]',e)
-            time.sleep(max(0.0,self.dt-(time.time()-t)))
-
-    def start(self): self.run=True; threading.Thread(target=self.loop,daemon=True).start()
-    def stop(self):
-        self.run=False; time.sleep(0.05)
-        try: self.disable_all()
-        finally: self.d1.disconnect(); self.d2.disconnect()
-
-    def status(self):
-        with self.lk: return f'mode={self.mode} en={self.enabled} estop={self.estop} prone={self.prone} vx={self.vx:.2f} vy={self.vy:.2f} yaw={self.yaw:.2f} h={self.h:.3f}'
-
-class CLI:
-    def __init__(self,d): self.d=d
-    def run(self):
-        print('enable disable clear estop_on estop_off prone_on prone_off status')
-        print('mode stand|wheel|trot, vx vy yaw h roll pitch, stop, quit')
-        print('interp_on interp_off interp_time <sec>, interp_method linear|cubic|quintic|cosine')
-        while True:
-            try: s=input('cmd> ').strip().lower()
-            except (EOFError,KeyboardInterrupt): s='quit'
-            if s in ('quit','exit'): break
-            if s=='enable': self.d.enable_all(); continue
-            if s=='disable': self.d.disable_all(); continue
-            if s=='clear': self.d.clear(); continue
-            if s=='estop_on': self.d.set_estop(True); continue
-            if s=='estop_off': self.d.set_estop(False); continue
-            if s=='prone_on': self.d.set_prone(True); continue
-            if s=='prone_off': self.d.set_prone(False); continue
-            if s=='status': print(self.d.status()); continue
-            if s=='stop':
-                with self.d.lk: self.d.vx=self.d.vy=self.d.yaw=0.0
-                continue
-            if s=='interp_on':
-                with self.d.lk: self.d.use_interpolation=True
-                print('Interpolation enabled'); continue
-            if s=='interp_off':
-                with self.d.lk: self.d.use_interpolation=False
-                print('Interpolation disabled'); continue
-            if s.startswith('interp_time '):
-                try:
-                    t=float(s.split()[1])
-                    if self.d.interpolator: self.d.interpolator.set_transition_time(t)
-                    print(f'Interpolation time set to {t}s')
-                except Exception as e: print(f'Error: {e}')
-                continue
-            if s.startswith('interp_method '):
-                try:
-                    method=s.split()[1]
-                    if self.d.interpolator: self.d.interpolator.set_method(method)
-                    print(f'Interpolation method set to {method}')
-                except Exception as e: print(f'Error: {e}')
-                continue
-            if s.startswith('mode '):
-                m=s.split()[1]
-                if m in ('stand','wheel','trot'):
-                    with self.d.lk: self.d.mode=m
-                else: print('bad mode')
-                continue
-            try:
-                k,v=s.split()[0],float(s.split()[1])
-                with self.d.lk:
-                    if k=='vx': self.d.vx=v
-                    elif k=='vy': self.d.vy=v
-                    elif k=='yaw': self.d.yaw=v
-                    elif k=='h': self.d.h=v
-                    elif k=='roll': self.d.roll=v
-                    elif k=='pitch': self.d.pitch=v
-                    else: print('unknown')
-            except Exception: print('unknown/bad')
-
-class GUI:
-    def __init__(self,d):
-        import tkinter as tk
-        from tkinter import ttk
-        self.d=d; self.root=tk.Tk(); self.root.title('WheelLeg Deploy')
-        f=ttk.Frame(self.root,padding=8); f.grid(row=0,column=0,sticky='nsew')
-        self.state=tk.StringVar(value='E-STOP ON'); ttk.Label(f,textvariable=self.state).grid(row=0,column=0,columnspan=4,sticky='w')
-        ttk.Button(f,text='Enable',command=self.en).grid(row=1,column=0)
-        ttk.Button(f,text='Disable',command=self.dis).grid(row=1,column=1)
-        ttk.Button(f,text='E-STOP ON',command=lambda:self.es(True)).grid(row=1,column=2)
-        ttk.Button(f,text='E-STOP OFF',command=lambda:self.es(False)).grid(row=1,column=3)
-        ttk.Button(f,text='Prone ON',command=lambda:self.pr(True)).grid(row=2,column=2)
-        ttk.Button(f,text='Prone OFF',command=lambda:self.pr(False)).grid(row=2,column=3)
-        self.mode=tk.StringVar(value='stand'); self.vx=tk.DoubleVar(value=0.0); self.vy=tk.DoubleVar(value=0.0); self.yaw=tk.DoubleVar(value=0.0); self.h=tk.DoubleVar(value=0.33)
-        self.roll=tk.DoubleVar(value=0.0); self.pitch=tk.DoubleVar(value=0.0)
-        cb=ttk.Combobox(f,textvariable=self.mode,values=['stand','wheel','trot'],state='readonly'); cb.grid(row=3,column=0,columnspan=2,sticky='ew'); cb.bind('<<ComboboxSelected>>',lambda _:self.sync())
-        ttk.Button(f,text='Stop',command=self.stp).grid(row=3,column=3)
-        self.sl(f,4,'vx',self.vx,-0.8,0.8); self.sl(f,5,'vy',self.vy,-0.5,0.5); self.sl(f,6,'yaw',self.yaw,-3,3); self.sl(f,7,'height',self.h,0.157,0.448); self.sl(f,8,'roll',self.roll,-0.4,0.4); self.sl(f,9,'pitch',self.pitch,-0.4,0.4)
-        self.info=tk.StringVar(value=''); ttk.Label(f,textvariable=self.info).grid(row=10,column=0,columnspan=4,sticky='w'); self.tick()
-    def sl(self,f,r,n,v,lo,hi):
-        from tkinter import ttk
-        ttk.Label(f,text=n).grid(row=r,column=0,sticky='w'); ttk.Scale(f,from_=lo,to=hi,variable=v,command=lambda _:self.sync()).grid(row=r,column=1,columnspan=3,sticky='ew')
-    def sync(self):
-        with self.d.lk:
-            self.d.mode=self.mode.get(); self.d.vx=float(self.vx.get()); self.d.vy=float(self.vy.get()); self.d.yaw=float(self.yaw.get()); self.d.h=float(self.h.get()); self.d.roll=float(self.roll.get()); self.d.pitch=float(self.pitch.get())
-    def en(self): self.d.enable_all(); self.state.set('Enabled')
-    def dis(self): self.d.disable_all(); self.state.set('Disabled')
-    def es(self,on): self.d.set_estop(on); self.state.set('E-STOP ON' if on else 'E-STOP OFF')
-    def pr(self,on): self.d.set_prone(on)
-    def stp(self):
-        with self.d.lk: self.d.vx=self.d.vy=self.d.yaw=0.0
-        self.vx.set(0.0); self.vy.set(0.0); self.yaw.set(0.0)
-    def tick(self): self.info.set(self.d.status()); self.root.after(150,self.tick)
-    def run(self): self.root.mainloop()
-
-def main():
-    ap=argparse.ArgumentParser()
-    ap.add_argument('--port-can1',default='/dev/can1')
-    ap.add_argument('--port-can2',default='/dev/can2')
-    ap.add_argument('--hz',type=float,default=100.0)
-    ap.add_argument('--no-gui',action='store_true')
-    ap.add_argument('--no-interp',action='store_true',help='Disable trajectory interpolation')
-    ap.add_argument('--interp-method',default='quintic',choices=['linear','cubic','quintic','cosine'],help='Interpolation method')
-    ap.add_argument('--interp-time',type=float,default=0.3,help='Interpolation transition time (seconds)')
-    a=ap.parse_args()
-    d=Deploy(a.port_can1,a.port_can2,a.hz,use_interpolation=not a.no_interp,interp_method=a.interp_method,interp_time=a.interp_time); d.connect(); d.start()
-    try:
-        cli=CLI(d); t=threading.Thread(target=cli.run,daemon=True); t.start()
-        if a.no_gui:
-            while t.is_alive(): time.sleep(0.2)
-        else: GUI(d).run()
-    finally: d.stop()
-
-if __name__=='__main__': main()
@@ -1,237 +0,0 @@
-#!/usr/bin/env python3
-"""
-轨迹插值模块 - 用于平滑关节角度过渡，避免突变和冲击
-
-支持多种插值方法：
- linear: 线性插值
- cubic: 三次多项式（速度连续）
- quintic: 五次多项式（速度和加速度连续，最平滑）
- cosine: 余弦 S 曲线
-
-使用示例：
-    interp = TrajectoryInterpolator(method='quintic', transition_time=0.5)
-    
-    # 设置新目标
-    interp.set_target({'joint1': 1.5, 'joint2': 0.8})
-    
-    # 每个控制周期调用
-    smooth_q = interp.update(dt=0.01, current_q={'joint1': 0.5, 'joint2': 0.3})
-"""
-
-import time
-from typing import Dict, Optional
-import numpy as np
-
-
-class TrajectoryInterpolator:
-    def __init__(self, method: str = 'quintic', transition_time: float = 0.5):
-        """
-        初始化轨迹插值器
-        
-        Args:
-            method: 插值方法 ('linear', 'cubic', 'quintic', 'cosine')
-            transition_time: 过渡时间（秒）
-        """
-        self.method = method
-        self.transition_time = transition_time
-        
-        self.q_start: Dict[str, float] = {}
-        self.q_target: Dict[str, float] = {}
-        self.q_current: Dict[str, float] = {}
-        
-        self.transition_start_time: Optional[float] = None
-        self.is_transitioning = False
-        
-        self._interpolation_funcs = {
-            'linear': self._linear,
-            'cubic': self._cubic,
-            'quintic': self._quintic,
-            'cosine': self._cosine,
-        }
-        
-        if method not in self._interpolation_funcs:
-            raise ValueError(f"Unknown interpolation method: {method}. "
-                           f"Available: {list(self._interpolation_funcs.keys())}")
-    
-    def set_target(self, q_target: Dict[str, float], force_restart: bool = False):
-        """
-        设置新的目标角度，开始新的过渡
-        
-        Args:
-            q_target: 目标关节角度字典 {joint_name: angle}
-            force_restart: 是否强制重新开始过渡（即使已经在过渡中）
-        """
-        if not self.q_current:
-            self.q_current = q_target.copy()
-            self.q_target = q_target.copy()
-            self.q_start = q_target.copy()
-            self.is_transitioning = False
-            return
-        
-        if not force_restart and self.is_transitioning:
-            self.q_target = q_target.copy()
-            return
-        
-        self.q_start = self.q_current.copy()
-        self.q_target = q_target.copy()
-        self.transition_start_time = time.time()
-        self.is_transitioning = True
-    
-    def update(self, dt: float, current_q: Optional[Dict[str, float]] = None) -> Dict[str, float]:
-        """
-        更新插值状态，返回当前应该下发的平滑角度
-        
-        Args:
-            dt: 时间步长（秒）
-            current_q: 可选的当前实际角度（用于初始化或同步）
-        
-        Returns:
-            平滑后的关节角度字典
-        """
-        if current_q is not None and not self.q_current:
-            self.q_current = current_q.copy()
-            self.q_start = current_q.copy()
-            self.q_target = current_q.copy()
-            return self.q_current.copy()
-        
-        if not self.is_transitioning:
-            return self.q_target.copy()
-        
-        elapsed = time.time() - self.transition_start_time
-        
-        if elapsed >= self.transition_time:
-            self.q_current = self.q_target.copy()
-            self.is_transitioning = False
-            return self.q_current.copy()
-        
-        s = elapsed / self.transition_time
-        alpha = self._interpolation_funcs[self.method](s)
-        
-        self.q_current = {}
-        for joint_name in self.q_target:
-            start_val = self.q_start.get(joint_name, 0.0)
-            target_val = self.q_target[joint_name]
-            self.q_current[joint_name] = start_val + (target_val - start_val) * alpha
-        
-        return self.q_current.copy()
-    
-    def reset(self, q_init: Optional[Dict[str, float]] = None):
-        """
-        重置插值器状态
-        
-        Args:
-            q_init: 初始角度，如果为 None 则清空所有状态
-        """
-        if q_init is None:
-            self.q_start = {}
-            self.q_target = {}
-            self.q_current = {}
-        else:
-            self.q_start = q_init.copy()
-            self.q_target = q_init.copy()
-            self.q_current = q_init.copy()
-        
-        self.transition_start_time = None
-        self.is_transitioning = False
-    
-    def is_done(self) -> bool:
-        """返回是否已完成当前过渡"""
-        return not self.is_transitioning
-    
-    def set_transition_time(self, t: float):
-        """动态修改过渡时间"""
-        self.transition_time = max(0.01, t)
-    
-    def set_method(self, method: str):
-        """动态修改插值方法"""
-        if method not in self._interpolation_funcs:
-            raise ValueError(f"Unknown method: {method}")
-        self.method = method
-    
-    @staticmethod
-    def _linear(s: float) -> float:
-        """线性插值：alpha = s"""
-        return np.clip(s, 0.0, 1.0)
-    
-    @staticmethod
-    def _cubic(s: float) -> float:
-        """三次多项式：alpha = 3s² - 2s³"""
-        s = np.clip(s, 0.0, 1.0)
-        return 3.0 * s**2 - 2.0 * s**3
-    
-    @staticmethod
-    def _quintic(s: float) -> float:
-        """五次多项式：alpha = 10s³ - 15s⁴ + 6s⁵"""
-        s = np.clip(s, 0.0, 1.0)
-        return 10.0 * s**3 - 15.0 * s**4 + 6.0 * s**5
-    
-    @staticmethod
-    def _cosine(s: float) -> float:
-        """余弦 S 曲线：alpha = (1 - cos(πs)) / 2"""
-        s = np.clip(s, 0.0, 1.0)
-        return (1.0 - np.cos(np.pi * s)) / 2.0
-
-
-if __name__ == '__main__':
-    import matplotlib.pyplot as plt
-    
-    print("轨迹插值模块测试")
-    print("=" * 60)
-    
-    methods = ['linear', 'cubic', 'quintic', 'cosine']
-    colors = ['blue', 'green', 'red', 'purple']
-    
-    fig, (ax1, ax2) = plt.subplots(1, 2, figsize=(12, 5))
-    
-    for method, color in zip(methods, colors):
-        interp = TrajectoryInterpolator(method=method, transition_time=1.0)
-        
-        interp.reset({'joint1': 0.0})
-        interp.set_target({'joint1': 1.0})
-        
-        times = []
-        positions = []
-        velocities = []
-        
-        t = 0.0
-        dt = 0.01
-        last_pos = 0.0
-        
-        while t <= 1.0:
-            q = interp.update(dt)
-            pos = q['joint1']
-            vel = (pos - last_pos) / dt if t > 0 else 0.0
-            
-            times.append(t)
-            positions.append(pos)
-            velocities.append(vel)
-            
-            last_pos = pos
-            t += dt
-        
-        ax1.plot(times, positions, label=method, color=color, linewidth=2)
-        ax2.plot(times, velocities, label=method, color=color, linewidth=2)
-    
-    ax1.set_xlabel('时间 (s)')
-    ax1.set_ylabel('位置 (rad)')
-    ax1.set_title('不同插值方法的位置曲线')
-    ax1.legend()
-    ax1.grid(True, alpha=0.3)
-    
-    ax2.set_xlabel('时间 (s)')
-    ax2.set_ylabel('速度 (rad/s)')
-    ax2.set_title('不同插值方法的速度曲线')
-    ax2.legend()
-    ax2.grid(True, alpha=0.3)
-    
-    plt.tight_layout()
-    plt.savefig('/home/rc2/work/rcwork/trajectory_interpolation_comparison.png', dpi=150)
-    print("已保存对比图到: trajectory_interpolation_comparison.png")
-    
-    print("\n测试完成")
-    print("=" * 60)
-    print("推荐使用:")
-    print("  - quintic: 最平滑，速度和加速度连续")
-    print("  - cosine: 平滑且计算简单")
-    print("  - cubic: 速度连续，比 quintic 稍快")
-    print("  - linear: 最简单但速度会突变")
@@ -1,52 +0,0 @@
-# `sim2real` 部署说明
-
-> 版本范围：第一代 Python Sim2Real（`v0.3.0`）。本文“当前”均指该快照。
-
-## 模型
-
-当前只使用：
-
- `policies/model_rough.pt`
-
-## 模型契约
-
- `obs_dim = 53`
- `action_dim = 16`
- 单帧输入
- 无 `base_lin_vel`
- 无 `height_scan`
-
-## 启动流程
-
-1. 连接硬件
-2. 使能电机
-3. 从当前实测姿态起立
-4. 进入 `stand_balance` 闭环站立
-5. prime 当前观测
-6. 进入 `50Hz` runtime
-
-## 为什么这样改
-
- 之前版本在 `startup` 后只维持固定 `STAND_POSE`
- 实机上纯 PD 不足以持续抗姿态扰动
- 现在增加独立站立闭环，先保证身体支撑，再进入策略
-
-## 运行开关
-
- `config.yaml > policy.enable_zero_cmd_suppression`
- `config.yaml > stand_balance.enabled`
- `config.yaml > policy.hold_zero_command_pose`
- `config.yaml > policy.command_release_s`
-
-## 纯 Python 命令
-
-默认前提：当前目录是 `05_software/real/sim2real/`
-
-```bash
-python -m pip install -r requirements-orin.txt
-python tools/alignment_check.py --policy policies/model_rough.pt --manifest deployment_manifest.yaml
-python tools/standalone_check.py
-python main.py --dry-run
-python main.py
-python web/server.py --host 0.0.0.0 --port 8080
-```
@@ -1,50 +0,0 @@
-# `FACTS_AND_ASSUMPTIONS`
-
-> 版本范围：第一代 Python Sim2Real（`v0.3.0`）。事实项只适用于该快照。
-
-## 已确认
-
- 当前部署模型：`policies/model_rough.pt`
- 原始说明记录的源模型名：`model_2000.pt`；同名文件未随本目录归档
- actor 输入：`53D`
- actor 输出：`16D`
- 当前 actor 不吃 `base_lin_vel`
- 当前 actor 不吃 `height_scan`
-
-## 当前观测顺序
-
-1. `base_ang_vel * 0.25`
-2. `projected_gravity`
-3. `command`
-4. `joint_pos_rel`（12）
-5. `joint_vel_rel * 0.05`（12）
-6. `wheel_vel * 0.05`（4）
-7. `last_actions`（16）
-
-## 当前控制定义
-
- 控制频率：`50Hz`
- 腿缩放：`0.125 / 0.25`
- 轮缩放：`5.0`
- 腿 LPF：`5Hz`
- 轮 LPF：`15Hz`
-
-## 当前仍依赖现场一致的部分
-
- IMU 安装方向与上一版校正一致
- 当前 MJCF / 电机参数对应这次重新训练后的模型
- 电机零位、方向、接线已按当前硬件修正
-
-## 本次实现边界
-
-不再支持：
-
- `crawl` 模型
- 多策略切换
- `318D` 历史输入
- 旧版 `startup.start_pose`
-
-## 本次排查结论
-
-代码应只围绕当前 rough 模型运行。  
-如果后续模型结构再改，必须重新核对观测、动作缩放、控制频率和部署文档。
@@ -1,47 +0,0 @@
-# `Orin Nano` 部署说明
-
-> 版本范围：第一代 Python Sim2Real（`v0.3.0`）。本文不是最终 ROS 2 v3 部署指南。
-
-## 是否必须转 ONNX
-
-不必须。
-
-当前优先级仍然是：
-
-1. 先保证观测、动作、站立控制对齐
-2. 再测 `50Hz` 实际环路稳定性
-3. 最后才决定是否转 `ONNX/TensorRT`
-
-## 当前代码重点
-
- `stand_balance` 已加入 `main.py` 和 `web/session.py`
- 启动后先站稳，再允许策略接管
- `PolicyRunner.step()` 仍保留零命令抑制开关，默认开启
-
-## Orin 上先测什么
-
- 机器人能否在不启动策略时，仅靠 `startup + stand_balance` 稳定站住
- `loop_dt_ms`
- `imu_age_ms`
- 电机 stale
- policy forward 耗时
-
-## 纯 Python 部署命令
-
-默认前提：当前目录是 `05_software/real/sim2real/`
-
-```bash
-python3 -m pip install -r requirements-orin.txt
-python3 tools/alignment_check.py --policy policies/model_rough.pt --manifest deployment_manifest.yaml
-python3 tools/standalone_check.py
-python3 main.py --dry-run
-python3 main.py
-python3 web/server.py --host 0.0.0.0 --port 8080
-```
-
-## 首轮实机建议
-
-1. 先不启动策略
-2. 只验证 `startup -> stand_balance`
-3. 站稳后再启动策略
-4. 只给很小的 `vx / vy / yaw`
@@ -1,78 +0,0 @@
-# `sim2real`
-
-本目录是第一代 Python Sim2Real 快照，对应 `v0.3.0`。下文“当前”均指该历史快照，不指仓库 `main` 的最终 ROS 2 v3。
-
-该快照只部署当时的 `53D -> 16D` Rough 模型，不兼容更早的 Crawl、多策略和其他历史观测契约。
-
-## 当前部署模型
-
- 使用文件：`policies/model_rough.pt`
- 原始说明记录的来源名：`model_2000.pt`；该同名源文件未随本目录归档，仓库只保留重命名后的 `policies/model_rough.pt`
-
-## 当前 actor 输入
-
- 单帧 `53D`
- 顺序：
-  - `base_ang_vel * 0.25`
-  - `projected_gravity`
-  - `command`
-  - `joint_pos_rel`（12）
-  - `joint_vel_rel * 0.05`（12）
-  - `wheel_vel * 0.05`（4）
-  - `last_actions`（16）
-
-不包含：
-
- `base_lin_vel`
- `height_scan`
-
-## 当前控制参数
-
- 控制频率：`50Hz`
- 站立保持：`startup/stand_balance.py`
- `hip_abduction` 缩放：`0.125`
- 其他腿关节缩放：`0.25`
- 轮速缩放：`5.0`
- 腿 LPF：`5Hz`
- 轮 LPF：`15Hz`
- 零命令抑制：默认开启，可通过 `config.yaml > policy.enable_zero_cmd_suppression` 关闭
- 零命令保持：默认开启，可通过 `config.yaml > policy.hold_zero_command_pose` 控制
- 首次命令解锁：默认开启，可通过 `config.yaml > policy.require_active_command_to_release` 控制
-
-## 当前站立逻辑
-
- `startup`：从实测姿态过渡到默认站姿
- `stand_balance`：根据 `IMU roll/pitch + gyro` 动态修正四条腿目标
- `runtime`：只有站立稳定后才进入策略控制
-
-这次改动的重点是：策略不再承担“先把身体撑住”的职责。
-
-另外当前部署逻辑改成：
-
- 零命令时默认不让策略直接接管腿和轮，保持站立目标
- 命令从零变为非零时，策略输出在 `command_release_s` 内平滑放开
-
-## 启动命令
-
-默认前提：当前目录是 `05_software/real/sim2real/`
-
-纯 `python`：
-
-```bash
-python -m pip install -r requirements-orin.txt
-python tools/alignment_check.py --policy policies/model_rough.pt --manifest deployment_manifest.yaml
-python tools/standalone_check.py
-python main.py --dry-run
-python main.py
-python web/server.py --host 0.0.0.0 --port 8080
-```
-
-Windows 本机可使用目标虚拟环境中的 Python；不要依赖个人机器的绝对安装路径：
-
-```bash
-python -m pip install -r requirements-orin.txt
-python tools\alignment_check.py --policy policies\model_rough.pt --manifest deployment_manifest.yaml
-python tools\standalone_check.py
-python main.py
-python web\server.py --host 0.0.0.0 --port 8080
-```
@@ -1,74 +0,0 @@
-can1_port: "/dev/can1"
-can2_port: "/dev/can2"
-motor_model: "rs-02"
-debug: false
-
-control_freq: 50
-imu_lib_path: null
-
-controller:
-  kp_leg: 80.0
-  kd_leg: 2.5
-  kd_wheel: 2.0
-  max_vx: 0.8
-  max_vy: 0.3
-  max_yaw_rate: 0.5
-
-policy:
-  enable_zero_cmd_suppression: true
-  hold_zero_command_pose: true
-  command_release_s: 0.35
-  require_active_command_to_release: true
-  zero_cmd_use_yaw_rate: false
-  action_scale: [0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 5.0, 5.0, 5.0, 5.0]
-  release_command_hold_s: 0.12
-  release_posture_max_err: 0.35
-  release_target_blend_s: 0.30
-
-stand_balance:
-  enabled: true
-  height: 0.33
-  kp_roll: 0.85
-  kp_pitch: 0.70
-  kd_roll_rate: 0.03
-  kd_pitch_rate: 0.025
-  lateral_lean_gain: 0.0
-  hip_abduction_clip: 0.45
-  hip_pitch_clip: [-1.0, 2.5]
-  knee_clip: [-2.6, -0.3]
-  stable_roll_deg: 6.0
-  stable_pitch_deg: 8.0
-  stable_gyro_deg_s: 45.0
-  enter_hold_s: 1.0
-  profile_h: [0.157, 0.248, 0.311, 0.366, 0.411, 0.448]
-  profile_hip: [1.5, 1.2, 1.0, 0.8, 0.6, 0.4]
-  profile_knee: [-2.5, -2.1, -1.8, -1.5, -1.2, -0.9]
-
-startup:
-  enabled: true
-  wait_for_enter_before_rise: false
-  soft_hold_duration: 1.0
-  ramp_kp_time: 1.0
-  transition_time_min: 2.0
-  transition_time_max: 6.0
-  transition_seconds_per_rad: 1.5
-  timeout_extra: 3.0
-  hold_time: 1.0
-  settle_pos_threshold: 0.30
-  settle_vel_threshold: 0.6
-  progress_log_interval: 0.5
-  max_dev_warn: 1.5
-  max_dev_abort: 3.0
-  require_user_confirm: true
-
-safety:
-  enabled: true
-  max_target_offset: 0.6
-  max_ang_vel: 10.0
-  max_tilt_z: -0.3
-  clip_to_brake: 3
-  imu_age_warn_ms: 60.0
-  imu_age_stop_ms: 200.0
-
-log_dir: "logs"
-log_every: 1
@@ -1,71 +0,0 @@
-model:
-  path: "/home/rc2/work/rcwork/real/rc_mjlab/rc_mjlab/model_rough.pt"
-  obs_dim: 53
-  action_dim: 16
-  enable_zero_cmd_suppression: true
-
-observation:
-  terms:
-    - name: base_ang_vel
-      dim: 3
-      scale: 0.25
-    - name: projected_gravity
-      dim: 3
-    - name: command
-      dim: 3
-    - name: joint_pos_rel
-      dim: 12
-    - name: joint_vel_rel
-      dim: 12
-      scale: 0.05
-    - name: wheel_vel
-      dim: 4
-      scale: 0.05
-    - name: last_actions
-      dim: 16
-
-action:
-  scale:
-    - 0.125
-    - 0.25
-    - 0.25
-    - 0.125
-    - 0.25
-    - 0.25
-    - 0.125
-    - 0.25
-    - 0.25
-    - 0.125
-    - 0.25
-    - 0.25
-    - 5.0
-    - 5.0
-    - 5.0
-    - 5.0
-  default_dof_pos:
-    - 0.0
-    - 0.9
-    - -1.8
-    - 0.0
-    - 0.9
-    - -1.8
-    - 0.0
-    - 0.9
-    - -1.8
-    - 0.0
-    - 0.9
-    - -1.8
-    - 0.0
-    - 0.0
-    - 0.0
-    - 0.0
-
-control:
-  control_freq_hz: 50
-  leg_lpf_hz: 5
-  wheel_lpf_hz: 15
-
-safety:
-  zero_cmd_lin_thresh: 0.05
-  zero_cmd_yaw_thresh: 0.05
-  zero_yaw_rate_thresh: 0.10
@@ -1,89 +0,0 @@
-"""键盘控制器 — 兼容 sim2sim/input_dev/keyboard.py 的接口与平滑参数。"""
-import numpy as np
-
-try:
-    from pynput import keyboard
-    PYNPUT_AVAILABLE = True
-except ImportError:
-    PYNPUT_AVAILABLE = False
-    keyboard = None  # type: ignore
-
-
-class KeyboardCommandController:
-    """方向键 + AD 键的键盘指令源。
-    指令: [vx, vy, yaw_rate]，平滑加减速；空格触发急停标志。
-    """
-
-    def __init__(self,
-                 max_x_vel: float = 0.8,
-                 max_y_vel: float = 0.3,
-                 max_yaw_vel: float = 0.5,
-                 acc_step: float = 0.05,
-                 dec_step: float = 0.1):
-        if not PYNPUT_AVAILABLE:
-            raise RuntimeError("pynput 不可用，无法使用键盘控制；改用其他输入源。")
-
-        self.current_cmd = np.zeros(3, dtype=np.float32)
-        self.max_x_vel = max_x_vel
-        self.max_y_vel = max_y_vel
-        self.max_yaw_vel = max_yaw_vel
-        self.acc_step = acc_step
-        self.dec_step = dec_step
-
-        self._pressed = set()
-        self._estop = False
-        self.listener = keyboard.Listener(
-            on_press=self._on_press, on_release=self._on_release
-        )
-
-    def start(self):
-        self.listener.start()
-        print("[Keyboard] 启动。↑↓ 前后, ←→ 转向, A/D 横移, SPACE 急停")
-
-    def stop(self):
-        try:
-            self.listener.stop()
-        except Exception:
-            pass
-
-    def _on_press(self, key):
-        self._pressed.add(key)
-        if key == keyboard.Key.space:
-            self._estop = True
-
-    def _on_release(self, key):
-        self._pressed.discard(key)
-
-    def is_estop_triggered(self) -> bool:
-        return self._estop
-
-    def reset_estop(self):
-        self._estop = False
-
-    def get_command(self) -> np.ndarray:
-        target = np.zeros(3, dtype=np.float32)
-        if keyboard.Key.up in self._pressed:
-            target[0] += self.max_x_vel
-        if keyboard.Key.down in self._pressed:
-            target[0] -= self.max_x_vel
-        if keyboard.Key.left in self._pressed:
-            target[2] += self.max_yaw_vel
-        if keyboard.Key.right in self._pressed:
-            target[2] -= self.max_yaw_vel
-        try:
-            if keyboard.KeyCode.from_char('a') in self._pressed:
-                target[1] += self.max_y_vel
-            if keyboard.KeyCode.from_char('d') in self._pressed:
-                target[1] -= self.max_y_vel
-        except Exception:
-            pass
-
-        for i, max_v in enumerate((self.max_x_vel, self.max_y_vel, self.max_yaw_vel)):
-            step = self.acc_step if target[i] != 0 else self.dec_step
-            if i == 2:
-                step *= 2.0
-            if self.current_cmd[i] < target[i]:
-                self.current_cmd[i] = min(self.current_cmd[i] + step, target[i])
-            else:
-                self.current_cmd[i] = max(self.current_cmd[i] - step, target[i])
-        return self.current_cmd.copy()
@@ -1,136 +0,0 @@
-"""Odin1 IMU 客户端封装。
-
-核心改动相对 sim_rl/odin1/python/odin1_imu.py：
- 自动加载默认 .so 路径，调用方只需要 IMUClient(lib_path=...)
- 启动后做一次"重力对齐" — 用静止时的加速度计读数初始化 Mahony 滤波器，
-  把首步姿态偏差从可能的 5°+ 降到 0.3° 内。这是方法论 D4 的关键一步。
- 数据老化检测：若 imu_age_ms > stale_threshold 则报警（不阻塞）。
-"""
-import sys
-import time
-from pathlib import Path
-from typing import Optional
-
-import numpy as np
-
-
-class IMUClient:
-    """Odin1 IMU 包装。
-
-    Args:
-        lib_path: libodin1_imu_bridge.so 的绝对路径；None 则按方法论 1.2 中
-                  约定的相对位置寻找。
-        gravity_align_samples: 启动时取多少帧加速度计平均值用于姿态初始化
-        stale_threshold_ms: 单帧数据超过该 age 视为陈旧
-    """
-
-    def __init__(self, lib_path: Optional[str] = None, gravity_align_samples: int = 50,
-                 stale_threshold_ms: float = 50.0):
-        # 优先级 1: vendored/odin1_imu（独立部署模式）
-        # 优先级 2: ../../odin1/odin1/python（开发模式，即 sim_rl/odin1/odin1/python）
-        sim2real_root = Path(__file__).resolve().parents[1]
-        candidates = [
-            sim2real_root / "vendored" / "odin1_imu",
-            sim2real_root.parents[1] / "odin1" / "odin1" / "python",
-        ]
-        for cand in candidates:
-            if cand.exists() and str(cand) not in sys.path:
-                sys.path.insert(0, str(cand))
-                break
-        try:
-            from odin1_imu import Odin1ImuClient  # type: ignore
-        except ImportError as e:
-            raise ImportError(
-                f"无法导入 Odin1ImuClient，已尝试的路径: {[str(c) for c in candidates]}: {e}"
-            )
-
-        # lib_path 默认查找：vendored/odin1_imu/build/libodin1_imu_bridge.so → 开发路径
-        if lib_path is None:
-            so_candidates = [
-                sim2real_root / "vendored" / "odin1_imu" / "build" / "libodin1_imu_bridge.so",
-                sim2real_root / "vendored" / "odin1_imu" / "libodin1_imu_bridge.so",
-                sim2real_root.parents[1] / "odin1" / "odin1" / "build" / "libodin1_imu_bridge.so",
-            ]
-            for so in so_candidates:
-                if so.exists():
-                    lib_path = str(so)
-                    break
-
-        self._client = Odin1ImuClient(lib_path=lib_path)
-        self._gravity_align_samples = gravity_align_samples
-        self._stale_threshold_ms = stale_threshold_ms
-        self._initial_gravity: Optional[np.ndarray] = None
-        # 用本机时钟追踪数据新鲜度（stamp_ns 是设备单调时钟，不能和 time.time 混算）
-        self._last_seq: int = -1
-        self._last_fresh_time: float = 0.0
-
-    def version(self) -> str:
-        return self._client.version()
-
-    def start(self, timeout_ms: int = 8000):
-        """启动 IMU 流，并采集若干帧用于重力对齐。"""
-        self._client.start(timeout_ms=timeout_ms)
-        self._wait_for_stream()
-        self._initial_gravity = self._collect_gravity_samples()
-        self._last_fresh_time = time.time()
-
-    def stop(self):
-        try:
-            self._client.stop()
-        except Exception:
-            pass
-
-    @property
-    def initial_gravity(self) -> Optional[np.ndarray]:
-        """启动后的初始重力向量（机身坐标系），用于初始化 Mahony 四元数。"""
-        return self._initial_gravity
-
-    def get_latest(self):
-        """返回 (gyro[3], accel[3], age_ms, fresh)；fresh=False 表示无新数据。"""
-        sample = self._client.get_latest()
-        if sample is None:
-            return (np.zeros(3, dtype=np.float32),
-                    np.array([0.0, 0.0, 9.81], dtype=np.float32),
-                    -1.0, False)
-        gyro = np.array([sample.gyro_x, sample.gyro_y, sample.gyro_z], dtype=np.float32)
-        accel = np.array([sample.accel_x, sample.accel_y, sample.accel_z], dtype=np.float32)
-        # 用 stamp_ns 判断是否有新数据，因为 sequence 字段在 C++ 中可能没有赋值，导致永远为 0
-        stamp = getattr(sample, "stamp_ns", 0)
-        now = time.time()
-        if stamp != self._last_seq:
-            self._last_seq = stamp
-            self._last_fresh_time = now
-            fresh = True
-        else:
-            fresh = False
-        age_ms = (now - self._last_fresh_time) * 1000.0
-        return gyro, accel, age_ms, fresh
-
-    # ---- 内部方法 ----
-    def _wait_for_stream(self, timeout: float = 3.0):
-        deadline = time.time() + timeout
-        while time.time() < deadline:
-            if self._client.wait_for_data(timeout_ms=200):
-                # 有数据进来后清空一次队列以保证后续 get_latest 拿到的都是最新
-                while self._client.pop_sample() is not None:
-                    pass
-                return
-        raise RuntimeError("IMU 启动超时，未收到任何样本")
-
-    def _collect_gravity_samples(self) -> np.ndarray:
-        accels = []
-        for _ in range(self._gravity_align_samples):
-            sample = self._client.pop_sample()
-            if sample is None:
-                if not self._client.wait_for_data(timeout_ms=100):
-                    continue
-                sample = self._client.pop_sample()
-                if sample is None:
-                    continue
-            accels.append([sample.accel_x, sample.accel_y, sample.accel_z])
-        if not accels:
-            print("[IMU] 警告: 重力对齐期间未收到样本，使用默认重力 [0,0,-9.81]")
-            return np.array([0.0, 0.0, -9.81], dtype=np.float32)
-        gravity = np.mean(accels, axis=0).astype(np.float32)
-        print(f"[IMU] 重力对齐完成: g_body = {gravity}")
-        return gravity
@@ -1,310 +0,0 @@
-"""RobStride 电机驱动包装。
-
-职责：
- 封装 ik_real 中 RobStrideDriver 的 enable/disable/clear/control_mit 调用
- **真实的丢包检测**：旧版用「value=0 启发式」会误判（电机回机械零位时也是 0）。
-  新方案：
-    1. 调用 process_messages 前快照所有电机的 (pos, vel, torque)
-    2. 调用后比较：状态变了 → 这一帧有新反馈；状态完全没变 → 累计 stale_count
-    3. stale_count 超过阈值才沿用上一帧（方法论 3.4.2）
-  仍然不完美（电机长时间静止确实会有连续多帧 state 不变），但比 0 启发式可靠。
- 通过 driver_factory 由调用方注入：远程 Linux 主机用 RobStrideDriver，
-  本地 Windows 调试可用 Mock。
-"""
-from dataclasses import dataclass
-import threading
-from typing import Callable, Dict, List, Optional, Tuple
-
-import numpy as np
-
-from interface.motor_mapping import MotorMapping
-
-
-@dataclass
-class MotorReading:
-    position: float
-    velocity: float
-    torque: float = 0.0
-    fresh: bool = False  # True 表示本帧驱动板有新反馈
-
-
-class HardwareIO:
-    """统一的电机+IMU总线接口（不含策略），主控调用这一层。
-
-    Args:
-        driver_factory: () -> (drv1, drv2)，由调用方注入；返回的对象需要满足：
-            connect()/disconnect()/disable(name)/enable(name)/clear_warnings(name)
-            add_motor(name, mid, model)/process_messages()
-            control_mit(name, q, dq, kp, kd, tau)
-            .motors: dict[name -> motor], motor.state.position / .velocity / .torque
-        config: yaml 解析后的字典
-    """
-
-    def __init__(self, driver_factory: Callable[[str, str, bool], Tuple[object, object]],
-                 motor_model: str, can1_port: str, can2_port: str, debug: bool = False,
-                 stale_frames_to_holdover: int = 2):
-        self.mapper = MotorMapping()
-        drv1, drv2 = driver_factory(can1_port, can2_port, debug)
-        self.driver_can1 = drv1
-        self.driver_can2 = drv2
-        self.motor_model = motor_model
-        self.stale_frames_to_holdover = stale_frames_to_holdover
-
-        # 上一帧反馈（按 (bus, can_id) 索引），用于丢包兜底
-        self._last_pos: Dict[Tuple[int, int], float] = {}
-        self._last_vel: Dict[Tuple[int, int], float] = {}
-        self._last_torque: Dict[Tuple[int, int], float] = {}
-        # 每个电机连续多少帧没收到新反馈
-        self._stale_counts: Dict[Tuple[int, int], int] = {}
-        # 第一次必须读到才能解锁，避免初始化时直接用零位发送大力矩
-        self._initialized = False
-
-        self.lock = threading.Lock()
-
-        # 累计诊断
-        self.holdover_total = 0  # 累计被沿用上一帧的次数
-
-    # ---- 总线管理 ----
-    def connect(self):
-        self.driver_can1.connect()
-        self.driver_can2.connect()
-        for jk in self.mapper.SIM_JOINT_ORDER:
-            leg, joint = jk
-            bus, mid = self.mapper.CAN_ID_MAP[jk]
-            name = f"{leg}_{joint}"
-            drv = self.driver_can1 if bus == 1 else self.driver_can2
-            drv.add_motor(name, mid, self.motor_model)
-            self._stale_counts[(bus, mid)] = 0
-
-    def disconnect(self):
-        try:
-            self.driver_can1.disconnect()
-        finally:
-            self.driver_can2.disconnect()
-
-    def enable_all(self):
-        for drv in (self.driver_can1, self.driver_can2):
-            for name in drv.motors:
-                drv.clear_warnings(name)
-                drv.enable(name)
-
-    def disable_all(self):
-        for drv in (self.driver_can1, self.driver_can2):
-            for name in drv.motors:
-                drv.disable(name)
-
-    # ---- 状态读取 ----
-    def _snapshot_state(self) -> Dict[Tuple[int, int], Tuple[float, float, float, int]]:
-        """快照所有电机的 (pos, vel, torque, update_count)，process_messages 前后比较即可判 fresh。"""
-        snap: Dict[Tuple[int, int], Tuple[float, float, float, int]] = {}
-        for drv_idx, drv in enumerate((self.driver_can1, self.driver_can2)):
-            bus = drv_idx + 1
-            for name, motor in drv.motors.items():
-                parts = name.split("_", 1)
-                if len(parts) != 2:
-                    continue
-                key = (parts[0], parts[1])
-                if key not in self.mapper.CAN_ID_MAP:
-                    continue
-                _, mid = self.mapper.CAN_ID_MAP[key]
-                s = motor.state
-                snap[(bus, mid)] = (s.position, s.velocity, s.torque, getattr(s, "update_count", 0))
-        return snap
-
-    def read_state(self) -> Tuple[np.ndarray, np.ndarray, np.ndarray, Dict[str, object]]:
-        """返回 (sim_joint_pos[16], sim_joint_vel[16], sim_joint_torque[16], debug_info)。"""
-        with self.lock:
-            # 1) 抓取上一次的状态作为「pre」快照（基线）
-            pre = self._snapshot_state()
-
-            # 2) 拉取本帧反馈
-            self.driver_can1.process_messages()
-            self.driver_can2.process_messages()
-
-            # 3) 抓取「post」快照
-            post = self._snapshot_state()
-
-            # 4) 比较：state 元组变了 → 本帧有新反馈，stale_count 清零；否则 stale_count++
-            per_motor_fresh: Dict[Tuple[int, int], bool] = {}
-            for key in post:
-                fresh = (pre.get(key) != post[key])
-                per_motor_fresh[key] = fresh
-                if fresh:
-                    self._stale_counts[key] = 0
-                else:
-                    self._stale_counts[key] += 1
-
-            # 5) 取出本帧 pos/vel；若该电机连续多帧没刷新，沿用上一帧（方法论 3.4.2）
-            real_pos: Dict[Tuple[int, int], float] = {}
-            real_vel: Dict[Tuple[int, int], float] = {}
-            real_torque: Dict[Tuple[int, int], float] = {}
-            holdover_this_frame = 0
-            for key, (pos, vel, tor, _) in post.items():
-                if (not per_motor_fresh[key]) and self._stale_counts[key] >= self.stale_frames_to_holdover:
-                    # 长时间不刷新视作丢包：沿用上一帧
-                    if key in self._last_pos:
-                        real_pos[key] = self._last_pos[key]
-                        real_vel[key] = self._last_vel[key]
-                        real_torque[key] = self._last_torque[key]
-                        holdover_this_frame += 1
-                    else:
-                        real_pos[key] = pos
-                        real_vel[key] = vel
-                        real_torque[key] = tor
-                else:
-                    real_pos[key] = pos
-                    real_vel[key] = vel
-                    real_torque[key] = tor
-
-            self.holdover_total += holdover_this_frame
-            # 缓存本帧（即便部分是 holdover 也缓存）
-            self._last_pos = real_pos.copy()
-            self._last_vel = real_vel.copy()
-            self._last_torque = real_torque.copy()
-            if not self._initialized:
-                self._initialized = True
-
-            cur_pos = self.mapper.real_to_sim(real_pos)
-            cur_vel = self.mapper.real_vel_to_sim(real_vel)
-            cur_torque = self.mapper.real_vel_to_sim(real_torque)
-
-            # 诊断信息
-            stale_max = max(self._stale_counts.values()) if self._stale_counts else 0
-            n_stale_motors = sum(1 for c in self._stale_counts.values()
-                                 if c >= self.stale_frames_to_holdover)
-            # 按 SIM_JOINT_ORDER 排列的每个电机连续丢帧数
-            per_motor_stale = [
-                self._stale_counts.get(self.mapper.CAN_ID_MAP[jk], 99)
-                for jk in self.mapper.SIM_JOINT_ORDER
-            ]
-            return cur_pos, cur_vel, cur_torque, {
-                "holdover_this_frame": holdover_this_frame,
-                "stale_max": stale_max,
-                "n_stale_motors": n_stale_motors,
-                "fresh_count": sum(1 for v in per_motor_fresh.values() if v),
-                "per_motor_stale": per_motor_stale,
-            }
-        
-    def passive_poll(self):
-        """发送全 0 (0刚度0阻尼0力矩) 的 MIT 指令给所有电机。
-        目的：在 ENABLED 状态下，不产生力矩地索要反馈（因为 RobStride 在 MIT 模式下必须有指令才反馈）。"""
-        with self.lock:
-            for jk in self.mapper.SIM_JOINT_ORDER:
-                bus, mid = self.mapper.CAN_ID_MAP[jk]
-                name = f"{jk[0]}_{jk[1]}"
-                drv = self.driver_can1 if bus == 1 else self.driver_can2
-                if name in drv.motors:
-                    drv.control_mit(name, 0.0, 0.0, 0.0, 0.0, 0.0)
-
-    # ---- 控制下发 ----
-    def send_control(self, target_angles: np.ndarray, kp_leg: float, kd_leg: float,
-                     kd_wheel: float):
-        """与 sim2sim 的 PD 模型对齐：
-        - 腿: position 控制，目标角度由 target_angles[:12] 给出，kp/kd 来自配置
-        - 轮: velocity 控制，目标速度由 target_angles[12:] 给出，kd 阻尼
-        """
-        with self.lock:
-            if target_angles.shape != (16,):
-                raise ValueError("target_angles must be (16,)")
-
-            real_targets = self.mapper.sim_to_real(target_angles.astype(np.float32))
-            
-            # 轮毂速度目标暂且用 0，如果 target_angles 里包含了速度，就在 policy 那里处理，
-            # 这里的 target_angles 是 pose 目标，轮毂作为连续旋转关节其实位置控制没有意义。
-            # 为了兼容旧代码，这里构造一个 16 维的 velocity array，只有后 4 个是目标（如果当作速度的话）。
-            vel_targets = np.zeros(16, dtype=np.float32)
-            vel_targets[12:] = target_angles[12:].astype(np.float32)
-            real_wheel = self.mapper.sim_vel_to_real(vel_targets)
-
-            for jk in self.mapper.SIM_JOINT_ORDER:
-                leg, joint = jk
-                bus, mid = self.mapper.CAN_ID_MAP[jk]
-                name = f"{leg}_{joint}"
-                drv = self.driver_can1 if bus == 1 else self.driver_can2
-                if name not in drv.motors:
-                    continue
-
-                if joint == "wheel":
-                    v = real_wheel[(bus, mid)]
-                    drv.control_mit(name, 0.0, v, 0.0, kd_wheel, 0.0)
-                else:
-                    q = real_targets[(bus, mid)]
-                    drv.control_mit(name, q, 0.0, kp_leg, kd_leg, 0.0)
-
-    def damping_brake(self, kd_leg: float, kd_wheel: float):
-        """急停模式：所有关节卸载刚度，仅保留阻尼。
-        对应 270_SimToReal 方法论 97.11 Level 2 "刹车"。
-        """
-        with self.lock:
-            for jk in self.mapper.SIM_JOINT_ORDER:
-                leg, joint = jk
-                bus, _ = self.mapper.CAN_ID_MAP[jk]
-                name = f"{leg}_{joint}"
-                drv = self.driver_can1 if bus == 1 else self.driver_can2
-                if name not in drv.motors:
-                    continue
-                kd = kd_wheel if joint == "wheel" else kd_leg
-                drv.control_mit(name, 0.0, 0.0, 0.0, kd, 0.0)
-
-    def wait_feedback_ready(self, max_attempts: int = 20,
-                            poll_interval: float = 0.05) -> Tuple[bool, list]:
-        """enable 后调用：尝试 max_attempts 次读总线，等所有 16 个电机
-        都至少给出一帧反馈。
-        返回 (all_ready, missing_motors)；missing_motors 是 (bus, mid, name) 列表。
-        """
-        import time
-        seen: Dict[Tuple[int, int], bool] = {
-            self.mapper.CAN_ID_MAP[jk]: False for jk in self.mapper.SIM_JOINT_ORDER
-        }
-        # 用第一次读到的 (pos, vel, torque) 三元组的"非零"或"已变化"作为反馈到达的判据。
-        # 启动瞬间所有 motor.state 默认全 0，要么收到反馈让其变化，要么收到反馈但值确实是 0。
-        # 退化情况下电机静止时 vel=0 且 pos=机械零位也=0，那种情况只能等多帧确认。
-        snap_prev = self._snapshot_state()
-        for attempt in range(max_attempts):
-            with self.lock:
-                self.driver_can1.process_messages()
-                self.driver_can2.process_messages()
-                snap_cur = self._snapshot_state()
-            for key, fields_cur in snap_cur.items():
-                if seen[key]:
-                    continue
-                fields_prev = snap_prev.get(key)
-                # 任一字段不为 0 → 一定有反馈（因为初始值都是 0）
-                if any(v != 0.0 for v in fields_cur):
-                    seen[key] = True
-                # 与上一次快照不同 → 一定有反馈（即便都很小）
-                elif fields_prev is not None and fields_cur != fields_prev:
-                    seen[key] = True
-            snap_prev = snap_cur
-            if all(seen.values()):
-                return True, []
-            time.sleep(poll_interval)
-
-        # 超时：列出仍未反馈的电机
-        missing = []
-        rev_can = {v: k for k, v in self.mapper.CAN_ID_MAP.items()}
-        for key, ok in seen.items():
-            if not ok:
-                leg, joint = rev_can[key]
-                missing.append((key[0], key[1], f"{leg}_{joint}"))
-        return False, missing
-
-    def read_measured_pose(self) -> np.ndarray:
-        """返回 (16,) 当前实测 sim 坐标系下的关节位置。
-        会先 process_messages 一次保证拿到本帧。
-        """
-        self.driver_can1.process_messages()
-        self.driver_can2.process_messages()
-        real_pos: Dict[Tuple[int, int], float] = {}
-        for drv_idx, drv in enumerate((self.driver_can1, self.driver_can2)):
-            bus = drv_idx + 1
-            for name, motor in drv.motors.items():
-                parts = name.split("_", 1)
-                if len(parts) != 2:
-                    continue
-                key = (parts[0], parts[1])
-                if key not in self.mapper.CAN_ID_MAP:
-                    continue
-                _, mid = self.mapper.CAN_ID_MAP[key]
-                real_pos[(bus, mid)] = motor.state.position
-        return self.mapper.real_to_sim(real_pos)
@@ -1,99 +0,0 @@
-"""仿真→实机电机映射。
-
-数据来源：sim_rl/ik_real/sim_to_real_deploy_beifen.py 和
-sim_rl/sim2real/motor_mapping.py 中的 sign / offset / can_id 表（已在实机上验证）。
-关节顺序与 rc_mjlab/sim2sim 完全一致：[12 个腿关节] + [4 个轮子]。
-"""
-from typing import Dict, Tuple
-
-import numpy as np
-
-
-class MotorMapping:
-    LEG_NAMES = ("fl", "fr", "rl", "rr")
-    JOINT_NAMES = ("hip_abduction", "hip_pitch", "knee", "wheel")
-
-    SIM_JOINT_ORDER = (
-        ("fl", "hip_abduction"), ("fl", "hip_pitch"), ("fl", "knee"),
-        ("fr", "hip_abduction"), ("fr", "hip_pitch"), ("fr", "knee"),
-        ("rl", "hip_abduction"), ("rl", "hip_pitch"), ("rl", "knee"),
-        ("rr", "hip_abduction"), ("rr", "hip_pitch"), ("rr", "knee"),
-        ("fl", "wheel"), ("fr", "wheel"), ("rl", "wheel"), ("rr", "wheel"),
-    )
-    SIM_INDEX_MAP = {jk: i for i, jk in enumerate(SIM_JOINT_ORDER)}
-
-    CAN_ID_MAP: Dict[Tuple[str, str], Tuple[int, int]] = {
-        ("fl", "hip_abduction"): (1, 1), ("fl", "hip_pitch"): (1, 2),
-        ("fl", "knee"): (1, 3),          ("fl", "wheel"): (1, 4),
-        ("fr", "hip_abduction"): (1, 5), ("fr", "hip_pitch"): (1, 6),
-        ("fr", "knee"): (1, 7),          ("fr", "wheel"): (1, 8),
-        ("rl", "hip_abduction"): (2, 1), ("rl", "hip_pitch"): (2, 2),
-        ("rl", "knee"): (2, 3),          ("rl", "wheel"): (2, 4),
-        ("rr", "hip_abduction"): (2, 5), ("rr", "hip_pitch"): (2, 6),
-        ("rr", "knee"): (2, 7),          ("rr", "wheel"): (2, 8),
-    }
-
-    DIRECTION_MAP: Dict[Tuple[str, str], int] = {
-        ("fl", "hip_abduction"): -1, ("fl", "hip_pitch"): -1,
-        ("fl", "knee"): -1,          ("fl", "wheel"): -1,
-        ("fr", "hip_abduction"): -1, ("fr", "hip_pitch"):  1,
-        ("fr", "knee"):  1,          ("fr", "wheel"):  1,
-        ("rl", "hip_abduction"):  1, ("rl", "hip_pitch"): -1,
-        ("rl", "knee"): -1,          ("rl", "wheel"): -1,
-        ("rr", "hip_abduction"):  1, ("rr", "hip_pitch"):  1,
-        ("rr", "knee"):  1,          ("rr", "wheel"):  1,
-    }
-
-    ZERO_OFFSET_MAP: Dict[Tuple[str, str], float] = {
-        ("fl", "hip_abduction"):  0.003, ("fl", "hip_pitch"):  0.030,
-        ("fl", "knee"):           0.028, ("fl", "wheel"):      0.000,
-        ("fr", "hip_abduction"):  0.004, ("fr", "hip_pitch"):  0.038,
-        ("fr", "knee"):           0.011, ("fr", "wheel"):      0.000,
-        ("rl", "hip_abduction"):  0.019, ("rl", "hip_pitch"): -0.034,
-        ("rl", "knee"):           0.025, ("rl", "wheel"):      0.000,
-        ("rr", "hip_abduction"): -0.001, ("rr", "hip_pitch"):  0.039,
-        ("rr", "knee"):           0.018, ("rr", "wheel"):      0.000,
-    }
-
-    def __init__(self):
-        self.num_motors = len(self.SIM_JOINT_ORDER)
-        self._sign = np.array([self.DIRECTION_MAP[jk] for jk in self.SIM_JOINT_ORDER], dtype=np.float32)
-        self._offset = np.array([self.ZERO_OFFSET_MAP[jk] for jk in self.SIM_JOINT_ORDER], dtype=np.float32)
-
-    def sim_to_real(self, sim_angles: np.ndarray) -> Dict[Tuple[int, int], float]:
-        if len(sim_angles) != 16:
-            raise ValueError(f"expected 16 sim angles, got {len(sim_angles)}")
-        out: Dict[Tuple[int, int], float] = {}
-        for i, jk in enumerate(self.SIM_JOINT_ORDER):
-            real = float(self._sign[i] * sim_angles[i] + self._offset[i])
-            out[self.CAN_ID_MAP[jk]] = real
-        return out
-
-    def sim_vel_to_real(self, sim_vels: np.ndarray) -> Dict[Tuple[int, int], float]:
-        # 速度只受方向影响，不应用 offset。
-        out: Dict[Tuple[int, int], float] = {}
-        for i, jk in enumerate(self.SIM_JOINT_ORDER):
-            out[self.CAN_ID_MAP[jk]] = float(self._sign[i] * sim_vels[i])
-        return out
-
-    def real_to_sim(self, real_pos: Dict[Tuple[int, int], float]) -> np.ndarray:
-        out = np.zeros(16, dtype=np.float32)
-        for i, jk in enumerate(self.SIM_JOINT_ORDER):
-            v = real_pos.get(self.CAN_ID_MAP[jk])
-            if v is None:
-                continue
-            out[i] = (v - self._offset[i]) / self._sign[i]
-        return out
-
-    def real_vel_to_sim(self, real_vel: Dict[Tuple[int, int], float]) -> np.ndarray:
-        out = np.zeros(16, dtype=np.float32)
-        for i, jk in enumerate(self.SIM_JOINT_ORDER):
-            v = real_vel.get(self.CAN_ID_MAP[jk])
-            if v is None:
-                continue
-            out[i] = v / self._sign[i]
-        return out
-
-    def joint_name_at(self, idx: int) -> str:
-        leg, joint = self.SIM_JOINT_ORDER[idx]
-        return f"{leg}_{joint}_joint"
@@ -1,135 +0,0 @@
-import time
-from typing import Callable, Dict, Tuple
-
-import numpy as np
-
-from interface.imu_client import IMUClient
-from interface.motor_driver import HardwareIO
-from tools.math_utils import LowPassFilter, MahonyFilter, get_gravity_orientation
-
-
-class RealIO:
-    def __init__(
-        self,
-        driver_factory: Callable[[str, str, bool], Tuple[object, object]],
-        motor_model: str,
-        can1_port: str,
-        can2_port: str,
-        imu_lib_path: str,
-        control_dt: float = 0.02,
-        kp_leg: float = 80.0,
-        kd_leg: float = 2.5,
-        kd_wheel: float = 2.0,
-        debug: bool = False,
-    ):
-        self.control_dt = control_dt
-        self.kp_leg = kp_leg
-        self.kd_leg = kd_leg
-        self.kd_wheel = kd_wheel
-
-        print("[RealIO] 初始化电机驱动...")
-        self.hw = HardwareIO(driver_factory, motor_model, can1_port, can2_port, debug)
-        print("[RealIO] 初始化 IMU...")
-        self.imu = IMUClient(lib_path=imu_lib_path)
-
-        self.imu_filter = MahonyFilter(kp=2.0, ki=0.0, dt=control_dt)
-        self.quat_wxyz = np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32)
-
-        self.lpf_legs = LowPassFilter(cutoff_freq=5.0, dt=control_dt, dim=12)
-        self.lpf_wheels = LowPassFilter(cutoff_freq=15.0, dt=control_dt, dim=4)
-
-        self._last_imu_age_ms = -1.0
-        self._last_imu_fresh = False
-
-    def connect(self, imu_timeout_ms: int = 8000):
-        self.hw.connect()
-        self.imu.start(timeout_ms=imu_timeout_ms)
-        if self.imu.initial_gravity is not None:
-            self.imu_filter.reset_with_accel(self.imu.initial_gravity)
-            self.quat_wxyz = self.imu_filter.q.copy()
-
-    def disconnect(self):
-        try:
-            self.hw.disable_all()
-        finally:
-            self.imu.stop()
-            self.hw.disconnect()
-
-    def enable_motors(self):
-        self.hw.enable_all()
-
-    def disable_motors(self):
-        self.hw.disable_all()
-
-    def damping_brake(self):
-        self.hw.damping_brake(self.kd_leg, self.kd_wheel)
-
-    def wait_feedback_ready(self, max_attempts: int = 20, poll_interval: float = 0.05):
-        return self.hw.wait_feedback_ready(max_attempts=max_attempts, poll_interval=poll_interval)
-
-    def read_measured_pose(self) -> np.ndarray:
-        return self.hw.read_measured_pose()
-
-    def read_state(self) -> Dict[str, object]:
-        joint_pos, joint_vel, joint_torque, motor_diag = self.hw.read_state()
-        gyro, accel, age_ms, fresh = self.imu.get_latest()
-        self._last_imu_age_ms = age_ms
-        self._last_imu_fresh = fresh
-        self.quat_wxyz = self.imu_filter.update(accel, gyro)
-        projected_gravity = get_gravity_orientation(self.quat_wxyz)
-
-        return {
-            "joint_pos": joint_pos,
-            "joint_vel": joint_vel,
-            "joint_torque": joint_torque,
-            "imu_gyro": gyro,
-            "imu_accel": accel,
-            "quat_wxyz": self.quat_wxyz.copy(),
-            "projected_gravity": projected_gravity,
-            "imu_age_ms": age_ms,
-            "imu_fresh": fresh,
-            "motor_stale": motor_diag,
-        }
-
-    def get_obs_policy(
-        self,
-        state: Dict[str, object],
-        command: np.ndarray,
-        default_dof_pos: np.ndarray,
-        last_actions_raw: np.ndarray,
-    ) -> np.ndarray:
-        gyro = state["imu_gyro"]
-        joint_pos = state["joint_pos"]
-        joint_vel = state["joint_vel"]
-        projected_gravity = state["projected_gravity"]
-
-        base_ang_vel = (gyro * 0.25).astype(np.float32)
-        joint_pos_rel = (joint_pos[:12] - default_dof_pos[:12]).astype(np.float32)
-        joint_vel_leg = (joint_vel[:12] * 0.05).astype(np.float32)
-        wheel_vel = (joint_vel[12:] * 0.05).astype(np.float32)
-
-        return np.concatenate(
-            [
-                base_ang_vel,
-                projected_gravity,
-                command.astype(np.float32),
-                joint_pos_rel,
-                joint_vel_leg,
-                wheel_vel,
-                last_actions_raw,
-            ]
-        ).astype(np.float32)
-
-    def send_actions(self, scaled_actions: np.ndarray, default_dof_pos: np.ndarray):
-        act = (scaled_actions + default_dof_pos).astype(np.float32)
-        act = np.clip(act, -100.0, 100.0)
-        act[:12] = self.lpf_legs.filter(act[:12])
-        act[12:] = self.lpf_wheels.filter(act[12:])
-        self.hw.send_control(act, self.kp_leg, self.kd_leg, self.kd_wheel)
-        return act
-
-    def hold_pose(self, sim_target_pose: np.ndarray, kp_scale: float = 1.0):
-        target = np.clip(sim_target_pose.astype(np.float32), -100.0, 100.0)
-        kp_scale = float(np.clip(kp_scale, 0.0, 1.0))
-        self.hw.send_control(target, self.kp_leg * kp_scale, self.kd_leg, self.kd_wheel)
-        return target
@@ -1,725 +0,0 @@
-"""CLI entrypoint for current sim2real deployment."""
-
-import argparse
-import os
-import sys
-import threading
-import time
-from pathlib import Path
-
-import numpy as np
-import yaml
-
-sys.path.insert(0, str(Path(__file__).resolve().parent))
-
-from input_dev.keyboard import KeyboardCommandController
-from interface.real_io import RealIO
-from policy.policy_runner import PolicyRunner
-from safety.runtime_guard import GuardLevel, RuntimeGuard
-from safety.safety_monitor import SafetyLevel, SafetyMonitor
-from startup.pose_initializer import PoseInitFailed, PoseInitializer, STAND_POSE
-from startup.stand_balance import StandBalanceController
-from tools.logger import LogBundle
-from tools.math_utils import get_gravity_orientation
-
-JOINT_LABELS = LogBundle.JOINT_LABELS
-
-
-def make_real_driver_factory():
-    def factory(can1_port, can2_port, debug):
-        sim2real_root = Path(__file__).resolve().parent
-        for path in (
-            sim2real_root / "vendored",
-            "/home/rc2/work/rcwork/control",
-            "/home/rc2/work/rcwork",
-        ):
-            path_str = str(path)
-            if path_str not in sys.path and Path(path).exists():
-                sys.path.append(path_str)
-        from drivers.motor_driver import RobStrideDriver  # type: ignore
-
-        return RobStrideDriver(can1_port, debug), RobStrideDriver(can2_port, debug)
-
-    return factory
-
-
-def make_dry_driver_factory():
-    class MockMotor:
-        def __init__(self):
-            class State:
-                position = 0.0
-                velocity = 0.0
-                torque = 0.0
-
-            self.state = State()
-
-    class MockDriver:
-        def __init__(self, port, debug):
-            self.port = port
-            self.motors = {}
-
-        def connect(self): ...
-        def disconnect(self): ...
-        def add_motor(self, name, motor_id, model): self.motors[name] = MockMotor()
-        def enable(self, name): ...
-        def disable(self, name): ...
-        def clear_warnings(self, name): ...
-        def process_messages(self): ...
-        def control_mit(self, *args, **kwargs): ...
-
-    def factory(can1_port, can2_port, debug):
-        return MockDriver(can1_port, debug), MockDriver(can2_port, debug)
-
-    return factory
-
-
-def _sleep_to(next_exec: float) -> float:
-    slack = next_exec - time.perf_counter()
-    if slack > 0:
-        time.sleep(slack)
-        return next_exec + 0.0
-    return time.perf_counter()
-
-
-def build_action_diag(
-    *,
-    joint_pos: np.ndarray,
-    default_pose: np.ndarray,
-    raw: np.ndarray,
-    scaled: np.ndarray,
-    tentative: np.ndarray,
-    cmd: np.ndarray,
-    zero_command: bool,
-    runtime_released: bool,
-    release_alpha: float,
-    safety_details: dict | None = None,
-) -> dict:
-    details = dict(safety_details or {})
-    joint_indices = list(details.get("joint_indices", []))
-    pos_err = tentative - joint_pos
-    leg_offset = tentative[:12] - default_pose[:12]
-    diag = {
-        "joint_indices": joint_indices,
-        "joint_names": [JOINT_LABELS[i] for i in joint_indices if 0 <= i < len(JOINT_LABELS)],
-        "cmd": cmd.tolist(),
-        "zero_command": bool(zero_command),
-        "runtime_released": bool(runtime_released),
-        "release_alpha": float(release_alpha),
-        "max_raw": float(np.max(np.abs(raw))) if raw.size else 0.0,
-        "max_scaled": float(np.max(np.abs(scaled[:12]))) if scaled.size else 0.0,
-        "max_target": float(np.max(np.abs(tentative[:12]))) if tentative.size else 0.0,
-    }
-    if joint_indices:
-        primary = int(joint_indices[0])
-        diag.update(
-            {
-                "primary_joint_index": primary,
-                "primary_joint_name": JOINT_LABELS[primary],
-                "primary_target": float(tentative[primary]),
-                "primary_default": float(default_pose[primary]),
-                "primary_measured": float(joint_pos[primary]),
-                "primary_pos_err": float(pos_err[primary]),
-                "primary_raw": float(raw[primary]),
-                "primary_scaled": float(scaled[primary]),
-            }
-        )
-        if primary < 12:
-            diag["primary_leg_offset"] = float(leg_offset[primary])
-    details.update(diag)
-    return details
-
-
-def policy_release_cfg(cfg: dict) -> dict[str, float]:
-    policy_cfg = cfg.get("policy", {})
-    return {
-        "command_hold_s": max(float(policy_cfg.get("release_command_hold_s", 0.12)), 0.0),
-        "posture_max_err": max(float(policy_cfg.get("release_posture_max_err", 0.35)), 0.0),
-        "target_blend_s": max(float(policy_cfg.get("release_target_blend_s", 0.30)), 1e-3),
-    }
-
-
-def compute_release_metrics(runner: PolicyRunner, state: dict, hold_target: np.ndarray, cmd: np.ndarray) -> dict:
-    joint_pos = np.asarray(state["joint_pos"], dtype=np.float32)
-    default_pose = np.asarray(runner.default_dof_pos, dtype=np.float32)
-    hold_target = np.asarray(hold_target, dtype=np.float32)
-    planar_cmd, yaw_cmd = runner.command_activation_metrics(cmd)
-    return {
-        "planar_cmd": float(planar_cmd),
-        "yaw_cmd": float(yaw_cmd),
-        "max_hold_err": float(np.max(np.abs(joint_pos[:12] - hold_target[:12]))),
-        "max_default_err": float(np.max(np.abs(joint_pos[:12] - default_pose[:12]))),
-        "max_hold_default_gap": float(np.max(np.abs(hold_target[:12] - default_pose[:12]))),
-    }
-
-
-def blend_runtime_target(
-    runner: PolicyRunner,
-    hold_target: np.ndarray,
-    policy_target: np.ndarray,
-    release_alpha: float,
-    target_blend_s: float,
-    control_dt: float,
-) -> np.ndarray:
-    blend = min(1.0, release_alpha * (runner.command_release_s / max(target_blend_s, control_dt)))
-    return ((1.0 - blend) * hold_target + blend * policy_target).astype(np.float32)
-
-
-def compute_target_error_metrics(
-    state: dict,
-    hold_target: np.ndarray,
-    policy_target: np.ndarray,
-) -> dict[str, float]:
-    joint_pos = np.asarray(state["joint_pos"], dtype=np.float32)
-    hold_target = np.asarray(hold_target, dtype=np.float32)
-    policy_target = np.asarray(policy_target, dtype=np.float32)
-    return {
-        "hold_target_max_err": float(np.max(np.abs(joint_pos[:12] - hold_target[:12]))),
-        "policy_target_max_err": float(np.max(np.abs(joint_pos[:12] - policy_target[:12]))),
-        "hold_policy_max_gap": float(np.max(np.abs(hold_target[:12] - policy_target[:12]))),
-    }
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--config", default=str(Path(__file__).parent / "config.yaml"))
-    parser.add_argument("--policy", default=None)
-    parser.add_argument("--dry-run", action="store_true")
-    args = parser.parse_args()
-
-    with open(args.config, "r", encoding="utf-8") as file_obj:
-        cfg = yaml.safe_load(file_obj)
-
-    sim2real_root = Path(__file__).resolve().parent
-    policy_path = Path(args.policy) if args.policy else sim2real_root / "policies" / "model_rough.pt"
-    if not policy_path.exists():
-        print(f"[Main] policy not found: {policy_path}")
-        sys.exit(1)
-
-    control_dt = 1.0 / float(cfg["control_freq"])
-    driver_factory = make_dry_driver_factory() if args.dry_run else make_real_driver_factory()
-
-    logger = LogBundle(cfg["log_dir"])
-    logger.event(
-        "CONFIG_LOADED",
-        config_path=args.config,
-        policy=str(policy_path),
-        dry_run=args.dry_run,
-        control_freq=cfg["control_freq"],
-        motor_model=cfg["motor_model"],
-    )
-
-    io = RealIO(
-        driver_factory=driver_factory,
-        motor_model=cfg["motor_model"],
-        can1_port=cfg["can1_port"],
-        can2_port=cfg["can2_port"],
-        imu_lib_path=cfg.get("imu_lib_path"),
-        control_dt=control_dt,
-        kp_leg=cfg["controller"]["kp_leg"],
-        kd_leg=cfg["controller"]["kd_leg"],
-        kd_wheel=cfg["controller"]["kd_wheel"],
-        debug=cfg.get("debug", False),
-    )
-    runner = PolicyRunner(
-        policy_path,
-        enable_zero_cmd_suppression=cfg.get("policy", {}).get("enable_zero_cmd_suppression", True),
-        hold_zero_command_pose=cfg.get("policy", {}).get("hold_zero_command_pose", True),
-        command_release_s=cfg.get("policy", {}).get("command_release_s", 0.35),
-        action_scale=np.asarray(
-            cfg.get("policy", {}).get(
-                "action_scale",
-                [0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 5.0, 5.0, 5.0, 5.0],
-            ),
-            dtype=np.float32,
-        ),
-        zero_cmd_use_yaw_rate=cfg.get("policy", {}).get("zero_cmd_use_yaw_rate", False),
-    )
-    require_active_command = cfg.get("policy", {}).get("require_active_command_to_release", True)
-    keyboard = KeyboardCommandController(
-        max_x_vel=cfg["controller"]["max_vx"],
-        max_y_vel=cfg["controller"]["max_vy"],
-        max_yaw_vel=cfg["controller"]["max_yaw_rate"],
-    )
-    safety = SafetyMonitor(
-        max_target_offset=cfg["safety"]["max_target_offset"],
-        max_ang_vel=cfg["safety"]["max_ang_vel"],
-        max_tilt_z=cfg["safety"]["max_tilt_z"],
-        clip_to_brake=cfg["safety"]["clip_to_brake"],
-    )
-    safety.reset()
-    guard = RuntimeGuard(
-        max_ang_vel=cfg["safety"]["max_ang_vel"],
-        max_tilt_z=cfg["safety"]["max_tilt_z"],
-        imu_age_warn_ms=cfg["safety"].get("imu_age_warn_ms", 60.0),
-        imu_age_stop_ms=cfg["safety"].get("imu_age_stop_ms", 200.0),
-    )
-    initializer = PoseInitializer(
-        io,
-        control_dt=control_dt,
-        transition_time_min=cfg["startup"].get("transition_time_min", 2.0),
-        transition_time_max=cfg["startup"].get("transition_time_max", 6.0),
-        transition_seconds_per_rad=cfg["startup"].get("transition_seconds_per_rad", 1.5),
-        hold_time=cfg["startup"]["hold_time"],
-        settle_pos_threshold=cfg["startup"]["settle_pos_threshold"],
-        settle_vel_threshold=cfg["startup"]["settle_vel_threshold"],
-        timeout_extra=cfg["startup"].get("timeout_extra", 3.0),
-        progress_log_interval=cfg["startup"]["progress_log_interval"],
-        ramp_kp_time=cfg["startup"].get("ramp_kp_time", 1.0),
-        soft_hold_duration=cfg["startup"].get("soft_hold_duration", 1.0),
-        max_dev_warn=cfg["startup"].get("max_dev_warn", 1.5),
-        max_dev_abort=cfg["startup"].get("max_dev_abort", 3.0),
-    )
-    initializer.attach(logger=logger, guard=guard, keyboard=keyboard)
-    stand_balance = StandBalanceController(cfg.get("stand_balance", {}), control_dt=control_dt)
-
-    print("\n[Main] connecting hardware...")
-    keyboard.start()
-    try:
-        io.connect()
-        logger.event("CAN_IMU_CONNECTED", initial_gravity=io.imu.initial_gravity)
-    except Exception as exc:
-        logger.event("HARDWARE_CONNECT_FAILED", error=str(exc))
-        keyboard.stop()
-        logger.close()
-        raise
-
-    try:
-        io.enable_motors()
-        logger.event("MOTORS_ENABLED")
-        time.sleep(0.5)
-
-        target_pose = initializer.transition_to_stand_from_current(target_pose=STAND_POSE) if cfg["startup"]["enabled"] else STAND_POSE.copy()
-
-        if stand_balance.enabled:
-            logger.event("STAND_BALANCE_BEGIN")
-            print("[Main] waiting for stand-balance to settle...")
-            stand_balance.reset()
-            next_exec = time.perf_counter()
-            while True:
-                state = io.read_state()
-                target_pose = stand_balance.compute_target(state, np.zeros(3, dtype=np.float32))
-                io.hold_pose(target_pose, kp_scale=1.0)
-                debug = stand_balance.last_debug
-                if stand_balance.is_stable():
-                    logger.event(
-                        "STAND_BALANCE_STABLE",
-                        roll_deg=float(np.degrees(debug.roll)),
-                        pitch_deg=float(np.degrees(debug.pitch)),
-                    )
-                    break
-                next_exec += control_dt
-                next_exec = _sleep_to(next_exec)
-            logger.event("STAND_BALANCE_END")
-
-        if cfg["startup"]["require_user_confirm"]:
-            print("[Main] standing complete. Press Enter to release policy control...")
-            done = threading.Event()
-
-            def _wait():
-                try:
-                    input()
-                except EOFError:
-                    pass
-                done.set()
-
-            threading.Thread(target=_wait, daemon=True).start()
-            if not initializer.hold_until_user_confirm(target_pose, done):
-                raise PoseInitFailed("WAIT_USER interrupted")
-
-        print("[Main] priming current observation...")
-        logger.event("PRIME_BEGIN")
-        zero_cmd = np.zeros(3, dtype=np.float32)
-        next_exec = time.perf_counter()
-        for index in range(1):
-            if stand_balance.enabled:
-                state = io.read_state()
-                target_pose = stand_balance.compute_target(state, zero_cmd)
-                io.hold_pose(target_pose, kp_scale=1.0)
-            else:
-                io.hold_pose(target_pose, kp_scale=1.0)
-                state = io.read_state()
-            obs = io.get_obs_policy(state, zero_cmd, runner.default_dof_pos, runner.last_actions)
-            if index == 0:
-                runner.reset(prime_obs=obs)
-            logger.state(
-                phase="PRIME",
-                joint_pos=state["joint_pos"],
-                joint_vel=state["joint_vel"],
-                joint_torque=state.get("joint_torque", np.zeros(16, dtype=np.float32)),
-                target_pose=target_pose,
-                raw_action=None,
-                gyro=state["imu_gyro"],
-                accel=state["imu_accel"],
-                quat=state["quat_wxyz"],
-                proj_gravity=state["projected_gravity"],
-                command=zero_cmd,
-                imu_age_ms=float(state["imu_age_ms"]),
-                loop_dt_ms=0.0,
-                kp_scale=1.0,
-            )
-            next_exec += control_dt
-            next_exec = _sleep_to(next_exec)
-        logger.event("PRIME_END")
-
-        print("[Main] entering 50Hz control loop... (space = estop)")
-        logger.event("RUNTIME_BEGIN")
-        next_exec = time.perf_counter()
-        loop_count = 0
-        last_print = next_exec
-        log_every = int(cfg.get("log_every", 1))
-        recent_dt_ms = []
-        runtime_released = not require_active_command
-        release_cfg = policy_release_cfg(cfg)
-        release_active_time = 0.0
-
-        while True:
-            loop_t0 = time.perf_counter()
-            cmd = keyboard.get_command()
-            state = io.read_state()
-            obs = io.get_obs_policy(state, cmd, runner.default_dof_pos, runner.last_actions)
-            zero_command = runner._is_zero_command(cmd, state["imu_gyro"])
-
-            obs_nan = bool(np.any(np.isnan(obs)) or np.any(np.isinf(obs)))
-            if obs_nan:
-                logger.event("OBS_NAN", obs_max=float(np.nanmax(obs)))
-                io.damping_brake()
-                break
-
-            if not runtime_released and zero_command:
-                raw = np.zeros(16, dtype=np.float32)
-                scaled = np.zeros(16, dtype=np.float32)
-                target_hold = stand_balance.compute_target(state, np.zeros(3, dtype=np.float32)) if stand_balance.enabled else runner.default_dof_pos.copy()
-                actual_target = io.hold_pose(target_hold, kp_scale=1.0)
-                policy_target = runner.default_dof_pos.copy()
-                release_metrics = compute_release_metrics(runner, state, target_hold, cmd)
-                target_metrics = compute_target_error_metrics(state, target_hold, policy_target)
-                release_active_time = 0.0
-                safety_decision = SafetyMonitor().check(
-                    target_pose=target_hold,
-                    default_pose=runner.default_dof_pos,
-                    imu_gyro=state["imu_gyro"],
-                    projected_gravity=state["projected_gravity"],
-                    estop_triggered=keyboard.is_estop_triggered(),
-                )
-                guard_decision = guard.check(
-                    imu_gyro=state["imu_gyro"],
-                    projected_gravity=state["projected_gravity"],
-                    imu_age_ms=float(state["imu_age_ms"]),
-                    estop_triggered=keyboard.is_estop_triggered(),
-                    extra_nan_arrays=(target_hold,),
-                )
-            else:
-                target_hold = stand_balance.compute_target(state, np.zeros(3, dtype=np.float32)) if stand_balance.enabled else runner.default_dof_pos.copy()
-                release_metrics = compute_release_metrics(runner, state, target_hold, cmd)
-                if not runtime_released:
-                    release_active_time += control_dt if runner.is_command_active(cmd) else 0.0
-                    active_ready = release_active_time >= release_cfg["command_hold_s"]
-                    posture_ready = release_metrics["max_hold_err"] <= release_cfg["posture_max_err"]
-                    if active_ready and posture_ready:
-                        runtime_released = True
-                        logger.event(
-                            "RUNTIME_COMMAND_RELEASED",
-                            cmd=cmd.tolist(),
-                            active_hold_s=release_active_time,
-                            max_hold_err=release_metrics["max_hold_err"],
-                            max_default_err=release_metrics["max_default_err"],
-                            max_hold_default_gap=release_metrics["max_hold_default_gap"],
-                        )
-                    else:
-                        reasons = []
-                        if not active_ready:
-                            reasons.append(f"cmd_hold<{release_cfg['command_hold_s']:.2f}s")
-                        if not posture_ready:
-                            reasons.append(f"hold_err>{release_cfg['posture_max_err']:.3f}")
-                        logger.event(
-                            "RUNTIME_RELEASE_BLOCKED",
-                            reason=",".join(reasons),
-                            cmd=cmd.tolist(),
-                            active_hold_s=release_active_time,
-                            max_hold_err=release_metrics["max_hold_err"],
-                            max_default_err=release_metrics["max_default_err"],
-                            max_hold_default_gap=release_metrics["max_hold_default_gap"],
-                        )
-                        raw = np.zeros(16, dtype=np.float32)
-                        scaled = np.zeros(16, dtype=np.float32)
-                        actual_target = io.hold_pose(target_hold, kp_scale=1.0)
-                        policy_target = runner.default_dof_pos.copy()
-                        target_metrics = compute_target_error_metrics(state, target_hold, policy_target)
-                        safety_decision = SafetyMonitor().check(
-                            target_pose=target_hold,
-                            default_pose=runner.default_dof_pos,
-                            imu_gyro=state["imu_gyro"],
-                            projected_gravity=state["projected_gravity"],
-                            estop_triggered=keyboard.is_estop_triggered(),
-                        )
-                        guard_decision = guard.check(
-                            imu_gyro=state["imu_gyro"],
-                            projected_gravity=state["projected_gravity"],
-                            imu_age_ms=float(state["imu_age_ms"]),
-                            estop_triggered=keyboard.is_estop_triggered(),
-                            extra_nan_arrays=(target_hold,),
-                        )
-                        loop_dt_ms = (time.perf_counter() - loop_t0) * 1000.0
-                        if log_every and (loop_count % log_every == 0):
-                            motor_diag = state.get("motor_stale", {})
-                            logger.state(
-                                phase="RUNTIME",
-                                joint_pos=state["joint_pos"],
-                                joint_vel=state["joint_vel"],
-                                joint_torque=state.get("joint_torque", np.zeros(16, dtype=np.float32)),
-                                target_pose=actual_target,
-                                raw_action=raw,
-                                gyro=state["imu_gyro"],
-                                accel=state["imu_accel"],
-                                quat=state["quat_wxyz"],
-                                proj_gravity=state["projected_gravity"],
-                                command=cmd,
-                                imu_age_ms=float(state["imu_age_ms"]),
-                                loop_dt_ms=loop_dt_ms,
-                                safety_level=int(safety_decision.level),
-                                guard_level=int(guard_decision.level),
-                                holdover=int(motor_diag.get("holdover_this_frame", 0)),
-                                stale_max=int(motor_diag.get("stale_max", 0)),
-                                fresh_count=int(motor_diag.get("fresh_count", 16)),
-                                kp_scale=1.0,
-                                nan_flag=0,
-                                kp_leg_cmd=float(io.kp_leg),
-                                kd_leg_cmd=float(io.kd_leg),
-                                kd_wheel_cmd=float(io.kd_wheel),
-                                runtime_release_alpha=0.0,
-                                runtime_release_hold_s=release_active_time,
-                                runtime_blend_ratio=0.0,
-                                hold_target_max_err=target_metrics["hold_target_max_err"],
-                                policy_target_max_err=target_metrics["policy_target_max_err"],
-                                hold_policy_max_gap=target_metrics["hold_policy_max_gap"],
-                                target_source="runtime_hold",
-                                clip_primary_joint="",
-                                safety_reason=f"release_blocked:{','.join(reasons)}",
-                                guard_reason=guard_decision.reason,
-                            )
-                        next_exec += control_dt
-                        next_exec = _sleep_to(next_exec)
-                        loop_count += 1
-                        continue
-                scaled, raw = runner.step(obs)
-                act_nan = bool(np.any(np.isnan(raw)) or np.any(np.isinf(raw)))
-                if act_nan:
-                    logger.event("ACTION_NAN")
-                    io.damping_brake()
-                    break
-
-                policy_target = (scaled + runner.default_dof_pos).astype(np.float32)
-                tentative = blend_runtime_target(
-                    runner,
-                    target_hold,
-                    policy_target,
-                    float(getattr(runner, "_command_release_alpha", 0.0)),
-                    release_cfg["target_blend_s"],
-                    control_dt,
-                )
-                scaled = tentative - runner.default_dof_pos
-                target_metrics = compute_target_error_metrics(state, target_hold, policy_target)
-                runtime_blend_ratio = min(
-                    1.0,
-                    float(getattr(runner, "_command_release_alpha", 0.0))
-                    * (runner.command_release_s / max(release_cfg["target_blend_s"], control_dt)),
-                )
-                projected_gravity = get_gravity_orientation(state["quat_wxyz"])
-
-                guard_decision = guard.check(
-                    imu_gyro=state["imu_gyro"],
-                    projected_gravity=projected_gravity,
-                    imu_age_ms=float(state["imu_age_ms"]),
-                    estop_triggered=keyboard.is_estop_triggered(),
-                    extra_nan_arrays=(raw, tentative),
-                )
-                if guard_decision.level == GuardLevel.STOP:
-                    logger.event("GUARD_STOP", phase="RUNTIME", reason=guard_decision.reason)
-                    io.damping_brake()
-                    break
-
-                safety_decision = safety.check(
-                    target_pose=tentative,
-                    default_pose=runner.default_dof_pos,
-                    imu_gyro=state["imu_gyro"],
-                    projected_gravity=projected_gravity,
-                    estop_triggered=keyboard.is_estop_triggered(),
-                )
-                if safety_decision.level == SafetyLevel.ESTOP:
-                    logger.event("SAFETY_ESTOP", reason=safety_decision.message)
-                    io.damping_brake()
-                    break
-                if safety_decision.level == SafetyLevel.BRAKE:
-                    safety_diag = build_action_diag(
-                        joint_pos=state["joint_pos"],
-                        default_pose=runner.default_dof_pos,
-                        raw=raw,
-                        scaled=scaled,
-                        tentative=tentative,
-                        cmd=cmd,
-                        zero_command=zero_command,
-                        runtime_released=runtime_released,
-                        release_alpha=float(getattr(runner, "_command_release_alpha", 0.0)),
-                        safety_details=safety_decision.details,
-                    )
-                    logger.event(
-                        "SAFETY_BRAKE",
-                        reason=safety_decision.message,
-                        details=safety_diag,
-                        primary_joint=safety_diag.get("primary_joint_name"),
-                        primary_offset=safety_diag.get("primary_leg_offset"),
-                        primary_target=safety_diag.get("primary_target"),
-                        primary_measured=safety_diag.get("primary_measured"),
-                        primary_raw=safety_diag.get("primary_raw"),
-                        primary_scaled=safety_diag.get("primary_scaled"),
-                        cmd=cmd.tolist(),
-                        release_alpha=float(getattr(runner, "_command_release_alpha", 0.0)),
-                    )
-                    io.damping_brake()
-                    break
-                if safety_decision.level == SafetyLevel.CLIP and safety_decision.clipped_target is not None:
-                    scaled = safety_decision.clipped_target - runner.default_dof_pos
-                    safety_diag = build_action_diag(
-                        joint_pos=state["joint_pos"],
-                        default_pose=runner.default_dof_pos,
-                        raw=raw,
-                        scaled=scaled,
-                        tentative=tentative,
-                        cmd=cmd,
-                        zero_command=zero_command,
-                        runtime_released=runtime_released,
-                        release_alpha=float(getattr(runner, "_command_release_alpha", 0.0)),
-                        safety_details=safety_decision.details,
-                    )
-                    logger.event(
-                        "SAFETY_CLIP",
-                        reason=safety_decision.message,
-                        details=safety_diag,
-                        primary_joint=safety_diag.get("primary_joint_name"),
-                        primary_offset=safety_diag.get("primary_leg_offset"),
-                        primary_target=safety_diag.get("primary_target"),
-                        primary_measured=safety_diag.get("primary_measured"),
-                        primary_raw=safety_diag.get("primary_raw"),
-                        primary_scaled=safety_diag.get("primary_scaled"),
-                        max_raw=float(np.max(np.abs(raw))),
-                        cmd=cmd.tolist(),
-                        release_alpha=float(getattr(runner, "_command_release_alpha", 0.0)),
-                    )
-
-                actual_target = io.send_actions(scaled, runner.default_dof_pos)
-            loop_dt_ms = (time.perf_counter() - loop_t0) * 1000.0
-
-            if log_every and (loop_count % log_every == 0):
-                motor_diag = state.get("motor_stale", {})
-                logger.state(
-                    phase="RUNTIME",
-                    joint_pos=state["joint_pos"],
-                    joint_vel=state["joint_vel"],
-                    joint_torque=state.get("joint_torque", np.zeros(16, dtype=np.float32)),
-                    target_pose=actual_target,
-                    raw_action=raw,
-                    gyro=state["imu_gyro"],
-                    accel=state["imu_accel"],
-                    quat=state["quat_wxyz"],
-                    proj_gravity=projected_gravity,
-                    command=cmd,
-                    imu_age_ms=float(state["imu_age_ms"]),
-                    loop_dt_ms=loop_dt_ms,
-                    safety_level=int(safety_decision.level),
-                    guard_level=int(guard_decision.level),
-                    holdover=int(motor_diag.get("holdover_this_frame", 0)),
-                    stale_max=int(motor_diag.get("stale_max", 0)),
-                    fresh_count=int(motor_diag.get("fresh_count", 16)),
-                    kp_scale=1.0,
-                    nan_flag=int(obs_nan or act_nan),
-                    kp_leg_cmd=float(io.kp_leg),
-                    kd_leg_cmd=float(io.kd_leg),
-                    kd_wheel_cmd=float(io.kd_wheel),
-                    runtime_release_alpha=float(getattr(runner, "_command_release_alpha", 0.0)),
-                    runtime_release_hold_s=release_active_time,
-                    runtime_blend_ratio=runtime_blend_ratio,
-                    hold_target_max_err=target_metrics["hold_target_max_err"],
-                    policy_target_max_err=target_metrics["policy_target_max_err"],
-                    hold_policy_max_gap=target_metrics["hold_policy_max_gap"],
-                    target_source="runtime_blend" if runtime_blend_ratio < 0.999 else "runtime_policy",
-                    clip_primary_joint=str((safety_decision.details or {}).get("primary_joint_name", "")),
-                    clip_primary_target=float((safety_decision.details or {}).get("primary_target", 0.0) or 0.0),
-                    clip_primary_measured=float((safety_decision.details or {}).get("primary_measured", 0.0) or 0.0),
-                    clip_primary_default=float((safety_decision.details or {}).get("primary_default", 0.0) or 0.0),
-                    clip_primary_pos_err=float((safety_decision.details or {}).get("primary_pos_err", 0.0) or 0.0),
-                    clip_primary_raw=float((safety_decision.details or {}).get("primary_raw", 0.0) or 0.0),
-                    clip_primary_scaled=float((safety_decision.details or {}).get("primary_scaled", 0.0) or 0.0),
-                    safety_reason=(
-                        f"{safety_decision.message};zero_cmd={int(zero_command)};"
-                        f"released={int(runtime_released)};alpha={getattr(runner, '_command_release_alpha', 0.0):.2f};"
-                        f"max_raw={float(np.max(np.abs(raw))):.2f};"
-                        f"clip={((safety_decision.details or {}).get('joint_indices', []))}"
-                    ),
-                    guard_reason=guard_decision.reason,
-                )
-
-            next_exec += control_dt
-            slack = next_exec - time.perf_counter()
-            if slack > 0:
-                coarse = slack - 0.002
-                if coarse > 0:
-                    time.sleep(coarse)
-                while time.perf_counter() < next_exec:
-                    pass
-            elif slack < -control_dt:
-                logger.event("LOOP_OVERRUN", over_ms=-slack * 1000.0)
-                next_exec = time.perf_counter()
-
-            recent_dt_ms.append(loop_dt_ms)
-            if len(recent_dt_ms) > 50:
-                recent_dt_ms.pop(0)
-            if len(recent_dt_ms) == 50:
-                median_dt = float(np.median(recent_dt_ms))
-                if median_dt > 22.0:
-                    logger.event("SLOW_LOOP_TREND", median_dt_ms=median_dt)
-                    recent_dt_ms.clear()
-
-            loop_count += 1
-            if time.perf_counter() - last_print > 1.0:
-                print(
-                    f"[Loop] cmd=[{cmd[0]:+.2f},{cmd[1]:+.2f},{cmd[2]:+.2f}] "
-                    f"|raw|={float(np.max(np.abs(raw))):.2f} "
-                    f"zero={int(zero_command)} rel={int(runtime_released)} "
-                    f"alpha={getattr(runner, '_command_release_alpha', 0.0):.2f} "
-                    f"imu_age={state['imu_age_ms']:.1f}ms "
-                    f"holdover={io.hw.holdover_total} "
-                    f"safety={int(safety_decision.level)}"
-                )
-                last_print = time.perf_counter()
-
-    except PoseInitFailed as exc:
-        print(f"[Main] startup aborted: {exc}")
-        logger.event("POSE_INIT_FAILED", error=str(exc))
-    except KeyboardInterrupt:
-        print("\n[Main] Ctrl+C received, stopping...")
-        logger.event("KEYBOARD_INTERRUPT")
-    except Exception as exc:
-        import traceback
-
-        print(f"\n[Main] exception: {exc}")
-        traceback.print_exc()
-        logger.event("UNEXPECTED_ERROR", error=str(exc), traceback=traceback.format_exc())
-    finally:
-        print("[Main] cleaning up...")
-        try:
-            io.damping_brake()
-            time.sleep(0.05)
-            logger.event("DAMPING_BRAKE_APPLIED")
-        except Exception as exc:
-            logger.event("DAMPING_BRAKE_FAILED", error=str(exc))
-        try:
-            io.disconnect()
-            logger.event("HARDWARE_DISCONNECTED")
-        finally:
-            keyboard.stop()
-            logger.close()
-        os._exit(0)
-
-
-if __name__ == "__main__":
-    main()
@@ -1,22 +0,0 @@
-<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>
@@ -1,327 +0,0 @@
-<mujoco model="go2w scene">
-<include file="C:/Users/31560/Documents/00_legged/new_rl/rc_mjlab/mjcf/wheelleg.xml"/>
-<statistic center="3.7 -9.0 0.4" extent="5.0"/>
-<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="90" 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"/>
-<hfield name="perlin_hfield" size="1.0 0.75 0.2 0.2" file="C:/Users/31560/Documents/00_legged/new_rl/rc_mjlab/sim2sim/terrain/height_field.png"/>
-<hfield name="image_hfield" size="1.0 1.0 0.02 0.1" file="C:/Users/31560/Documents/00_legged/new_rl/rc_mjlab/sim2sim/terrain/unitree_hfield.png"/>
-</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" />
-
-<!-- 30cm高墙：旋转90度，沿x轴方向放置，并与T型楼梯中心线 y=-3.50 对齐 -->
-<geom pos="1.8 -7.0 0.15"
-      type="box"
-      size="0.025 0.5 0.15"
-      quat="0.7071068 0.0 0.0 0.7071068" 
-      rgba="1.0 0.9 0.4 1.0"/>
-
-<!-- 沙砾碎木坑：x正方向边界与10度斜坡+x边界对齐，y正边界距斜坡y负边界4m -->
-
-<geom pos="4.8361 -12.5 0.075"
-      type="box"
-      size="0.5 0.5 0.075"
-      quat="0.0 0.0 0.0 1.0" 
-      rgba="0.75 0.72 0.55 1.0"/>
-
-<geom pos="5.8361 -12.0 0.075"
-      type="box"
-      size="0.5 1.0 0.075"
-      quat="0.0 0.0 0.0 1.0" 
-      rgba="0.75 0.72 0.55 1.0"/>
-
-
-
-
-<!-- 限高杆 -->
-<geom pos="6.2 -9.0 0.155"
-      type="cylinder"
-      size="0.025 0.155"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.8 0.1 0.1 1.0" />
-
-<geom pos="5.2 -9.0 0.155"
-      type="cylinder"
-      size="0.025 0.155"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.8 0.1 0.1 1.0" />
-<geom pos="5.7 -9.0 0.325"
-      type="cylinder"
-      size="0.015 0.5"
-      quat="0.7071068 0.0 0.7071068 0.0" 
-      rgba="1.0 0.9 0.4 1.0"/>
-
-
-<!-- 1m × 1m 正方形颜色块，出发区-->
-<geom pos="3.7 -9.0 0.0"
-      type="box"
-      size="0.5 0.5 0.001"
-      rgba="1.0 0.0 0.0 0.35"
-      contype="0"
-      conaffinity="0" />
-
-
-
-<!-- 10cm梯形台阶：T型楼梯，最高平台与 x=5.7 y=-3.5 平台在y轴方向对齐 -->
-
-<geom pos="1.80 -4.75 0.05" type="box" size="0.15 0.5 0.05" quat="0.7071068 0.0 0.0 0.7071068" rgba="0.75 0.72 0.55 1.0" />
-<geom pos="1.80 -4.45 0.15" type="box" size="0.15 0.5 0.05" quat="0.7071068 0.0 0.0 0.7071068" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="1.80 -4.15 0.25" type="box" size="0.15 0.5 0.05" quat="0.7071068 0.0 0.0 0.7071068" rgba="0.75 0.72 0.55 1.0"/>
-
-<!-- 最高平台：y = -3.50，与目标平台y轴对齐 -->
-<geom pos="1.80 -3.50 0.35" type="box" size="0.5 0.5 0.05" quat="0.7071068 0.0 0.0 0.7071068" rgba="0.75 0.72 0.55 1.0"/>
-
-<geom pos="1.80 -2.85 0.25" type="box" size="0.15 0.5 0.05" quat="0.7071068 0.0 0.0 0.7071068" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="1.80 -2.55 0.15" type="box" size="0.15 0.5 0.05" quat="0.7071068 0.0 0.0 0.7071068" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="1.80 -2.25 0.05" type="box" size="0.15 0.5 0.05" quat="0.7071068 0.0 0.0 0.7071068" rgba="0.75 0.72 0.55 1.0"/>
-
-
-<!-- 顶部平台向 +x 方向连接地面的10cm台阶，同样y轴移动到 -3.50 -->
-
-<geom pos="2.45 -3.50 0.25" type="box" size="0.15 0.5 0.05" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="2.75 -3.50 0.15" type="box" size="0.15 0.5 0.05" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="3.05 -3.50 0.05" type="box" size="0.15 0.5 0.05" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-
-
-
-
-<!-- 斜坡木桥A木桥B -->
-<geom pos="1.8 -0.88 0.1" type="box" size="0.40 0.5 0.005" quat="0.701836 0.086175 -0.086175 0.701836" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="1.8 0.0 0.10" type="box" size="0.5 0.5 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="2.65 0.0 0.10" type="box" size="0.2 0.5 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="3.2 0.0 0.10" type="box" size="0.2 0.5 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="3.75 0.0 0.10" type="box" size="0.2 0.5 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="4.3 0.0 0.10" type="box" size="0.2 0.5 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="4.85 0.0 0.10" type="box" size="0.2 0.5 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="5.7 -0.5 0.10" type="box" size="0.5 1.0 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="4.8002 -1.0 0.0951"
-      type="box"
-      size="0.4133 0.5 0.005"
-      quat="0.992546 0.0 -0.121869 0.0" 
-      rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="5.35 -2.25 0.10" type="box" size="0.1 0.75 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="5.65 -2.25 0.10" type="box" size="0.1 0.75 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="5.95 -2.25 0.10" type="box" size="0.1 0.75 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<geom pos="5.7 -3.5 0.10" type="box" size="0.5 0.5 0.10" quat="1.0 0.0 0.0 0.0" rgba="0.75 0.72 0.55 1.0"/>
-<!-- 10度斜坡：宽4m，斜坡 y正方向边缘 与平台 y正方向边缘 对齐 -->
-<geom pos="4.6338 -5.0 0.0951"
-      type="box"
-      size="0.5759 2.0 0.005"
-      quat="0.9961947 0.0 -0.0871557 0.0" 
-      rgba="0.75 0.72 0.55 1.0"/>
-<!-- 新建10度斜坡：宽3m，高端与前一个10度斜坡高端衔接，向+x方向下坡 -->
-<geom pos="5.7681 -5.5 0.0951"
-      type="box"
-      size="0.5759 1.5 0.005"
-      quat="0.9961947 0.0 0.0871557 0.0" 
-      rgba="0.75 0.72 0.55 1.0"/>
-
-
-
-
-
-<!--绕杆-->
-<!-- 直径1m圆形颜色块，仅显示，不碰撞 -->
-<geom pos="1.8 -10.1 0.0"
-      type="cylinder"
-      size="0.1 0.001"
-      rgba="1.0 0.0 0.0 0.35"
-      contype="0"
-      conaffinity="0" />
-
-<geom pos="3.2 -12.5 0.0"
-      type="cylinder"
-      size="0.1 0.001"
-      rgba="1.0 0.0 0.0 0.35"
-      contype="0"
-      conaffinity="0" />
-
-<geom pos="1.55 -12.75 0.0"
-      type="cylinder"
-      size="0.1 0.001"
-      rgba="1.0 0.0 0.0 0.35"
-      contype="0"
-      conaffinity="0" />
-
-<!-- 原杆 -->
-<geom pos="1.8 -10.5 0.02"
-      type="cylinder"
-      size="0.05 0.02"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.75 0.72 0.55 1.0" />
-
-<geom pos="1.8 -10.5 0.37"
-      type="cylinder"
-      size="0.015 0.33"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.75 0.72 0.55 1.0" />
-
-
-<!-- y轴负方向第1根：间隔1m -->
-<geom pos="1.8 -11.5 0.02"
-      type="cylinder"
-      size="0.05 0.02"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.75 0.72 0.55 1.0" />
-
-<geom pos="1.8 -11.5 0.37"
-      type="cylinder"
-      size="0.015 0.33"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.75 0.72 0.55 1.0" />
-
-
-<!-- y轴负方向第2根：继续间隔1m -->
-<geom pos="1.8 -12.5 0.02"
-      type="cylinder"
-      size="0.05 0.02"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.75 0.72 0.55 1.0" />
-
-<geom pos="1.8 -12.5 0.37"
-      type="cylinder"
-      size="0.015 0.33"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.75 0.72 0.55 1.0" />
-
-
-<!-- x轴正方向第3根：继续间隔1m -->
-<geom pos="2.8 -12.5 0.02"
-      type="cylinder"
-      size="0.05 0.02"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.75 0.72 0.55 1.0" />
-
-<geom pos="2.8 -12.5 0.37"
-      type="cylinder"
-      size="0.015 0.33"
-      quat="1.0 0.0 0.0 0.0"
-      rgba="0.75 0.72 0.55 1.0" />
-
-
-<!--===================================================================其他障碍=====================================================================================-->
-
-<!-- 5cm台阶 -->
-<geom pos="1.0 2.0 0.025" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="1.3 2.0 0.075" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="1.6 2.0 0.125" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="1.9 2.0 0.175" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="2.2 2.0 0.225" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="2.5 2.0 0.275" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="2.8 2.0 0.325" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="3.45 2.0 0.375" type="box" size="0.5 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="4.1 2.0 0.325" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="4.4 2.0 0.275" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="4.7 2.0 0.225" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="5.0 2.0 0.175" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="5.3 2.0 0.125" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="5.6 2.0 0.075" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-<geom pos="5.9 2.0 0.025" type="box" size="0.15 1.0 0.025" quat="1.0 0.0 0.0 0.0" />
-
-<!-- 斜坡 -->
-<geom pos="2.0 4.0 0.1" type="box" size="1.5 0.75 0.005" quat="0.9950041652780258 0.0 -0.09983341664682815 0.0" />
-
-
-
-
-<geom pos="1.4 6.0 0.165" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
-<geom pos="1.6 6.0 0.275" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
-<geom pos="1.8 6.0 0.385" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
-<geom pos="2.0 6.0 0.495" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
-<geom pos="2.2 6.0 0.605" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
-<geom pos="2.4 6.0 0.715" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
-<geom pos="2.5999999999999996 6.0 0.825" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
-<geom pos="2.8 6.0 0.9349999999999999" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
-<geom pos="3.0 6.0 1.045" type="box" size="0.1 0.75 0.0049999999999999975" quat="1.0 0.0 0.0 0.0"/>
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-<geom pos="-0.43033316974190594 6.047888701789067 -0.25" type="box" size="0.25684720236482583 0.25568474221031684 0.24397094296107352" quat="0.9925256546500537 -0.08214715587137877 0.06615741576234473 0.06138294537877935"/>
-<geom pos="-0.43033316974190594 6.283676056613722 -0.25" type="box" size="0.2432692787269645 0.2742601402399693 0.2689467974776609" quat="0.9989897410981501 0.0047037010179340685 0.0014590493232283363 -0.04466814919444852"/>
-<geom pos="-0.43033316974190594 6.458239009480634 -0.25" type="box" size="0.2474330649412728 0.2551435998627988 0.23002773988805483" quat="0.9982311862818315 0.0506459597703481 0.025989046975463247 -0.01714802993392417"/>
-<geom pos="-0.43033316974190594 6.703309377175586 -0.25" type="box" size="0.2301029552870502 0.2556223065028505 0.2349557527965884" quat="0.9948672058648923 -0.034182171957127715 -0.0030330068097560517 -0.09519255582537542"/>
-<geom type="hfield" hfield="perlin_hfield" pos="-1.5 4.0 0.0" quat="1.0 0.0 0.0 0.0"/>
-<geom type="hfield" hfield="image_hfield" pos="-1.5 2.0 0.0" quat="0.7073882691671998 0.0 0.0 -0.706825181105366"/>
-</worldbody>
-</mujoco>
@@ -1,157 +0,0 @@
-<mujoco model="wheelleg">
-  <compiler angle="radian" meshdir="meshes/"/>
-
-  <default>
-    <geom margin="0"/>
-  </default>
-  <asset>
-    <mesh name="base_link" content_type="model/stl" file="base_link.STL"/>
-    <mesh name="fl_hip_abduction_Link" content_type="model/stl" file="fl_hip_abduction_Link.STL"/>
-    <mesh name="fl_hip_pitch_Link" content_type="model/stl" file="fl_hip_pitch_Link.STL"/>
-    <mesh name="fl_knee_Link" content_type="model/stl" file="fl_knee_Link.STL"/>
-    <mesh name="fl_wheel_Link" content_type="model/stl" file="fl_wheel_Link.STL"/>
-    <mesh name="fr_hip_abduction_Link" content_type="model/stl" file="fr_hip_abduction_Link.STL"/>
-    <mesh name="fr_hip_pitch_Link" content_type="model/stl" file="fr_hip_pitch_Link.STL"/>
-    <mesh name="fr_knee_Link" content_type="model/stl" file="fr_knee_Link.STL"/>
-    <mesh name="fr_wheel_Link" content_type="model/stl" file="fr_wheel_Link.STL"/>
-    <mesh name="rl_hip_abduction_Link" content_type="model/stl" file="rl_hip_abduction_Link.STL"/>
-    <mesh name="rl_hip_pitch_Link" content_type="model/stl" file="rl_hip_pitch_Link.STL"/>
-    <mesh name="rl_knee_Link" content_type="model/stl" file="rl_knee_Link.STL"/>
-    <mesh name="rl_wheel_Link" content_type="model/stl" file="rl_wheel_Link.STL"/>
-    <mesh name="rr_hip_abduction_Link" content_type="model/stl" file="rr_hip_abduction_Link.STL"/>
-    <mesh name="rr_hip_pitch_Link" content_type="model/stl" file="rr_hip_pitch_Link.STL"/>
-    <mesh name="rr_knee_Link" content_type="model/stl" file="rr_knee_Link.STL"/>
-    <mesh name="rr_wheel_Link" content_type="model/stl" file="rr_wheel_Link.STL"/>
-  </asset>
-
-  <worldbody>
-    <body name="base_link">
-      <inertial pos="0.1517 0.0002 0.0542" mass="3.5" diaginertia="0.0215 0.0904 0.0985"/>
-      <joint type="free"/>
-      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="base_link"/>
-      <geom size="0.178 0.1175 0.073" pos="0.1518 0 0.054" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-      <body name="fl_hip_abduction_Link" pos="0.32826 0.066172 0.053981">
-        <inertial pos="0.0488 -0.0026 0.0007" mass="0.5" diaginertia="0.0003 0.0006 0.0005"/>
-        <joint name="fl_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.436 0.611" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_hip_abduction_Link"/>
-        <body name="fl_hip_pitch_Link" pos="0.06389 -0.027344 0.00010727" quat="0.999997 -0.0025023 0 0">
-          <inertial pos="0.0019 0.1119 -0.048" mass="0.935" diaginertia="0.0062 0.0064 0.001"/>
-          <joint name="fl_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_hip_pitch_Link"/>
-          <geom size="0.046 0.048" pos="0 0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-          <geom size="0.0435 0.0115 0.06" pos="0 0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-          <body name="fl_knee_Link" pos="0 0.1035 -0.25" quat="0.999997 0.0025023 0 0">
-            <inertial pos="0.0002 0.0242 -0.1539" mass="0.651" fullinertia="0.0042 0.0045 0.0005 0 0 0.0002"/>
-            <joint name="fl_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_knee_Link"/>
-            <geom size="0.0475 0.015" pos="0 0.025 -0.20011" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-            <geom size="0.015 0.0125 0.06" pos="0 0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-            <body name="fl_wheel_Link" pos="0 0.014699 -0.20011">
-              <inertial pos="-0.0002 0.0407 -0.0001" mass="0.53" diaginertia="0.0017 0.0032 0.0017"/>
-              <joint name="fl_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_wheel_Link"/>
-              <geom size="0.1 0.015" pos="0 0.04074 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="fr_hip_abduction_Link" pos="0.32826 -0.065853 0.054034">
-        <inertial pos="0.0488 0.0026 0.0008" mass="0.5" diaginertia="0.0003 0.0006 0.0005"/>
-        <joint name="fr_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.611 0.436" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_hip_abduction_Link"/>
-        <body name="fr_hip_pitch_Link" pos="0.06389 0.027311 -0.00036027" quat="0.999976 -0.00686995 0 0">
-          <inertial pos="-0.0019 -0.1119 -0.048" mass="0.935" diaginertia="0.0062 0.0064 0.001"/>
-          <joint name="fr_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_hip_pitch_Link"/>
-          <geom size="0.046 0.048" pos="0 -0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-          <geom size="0.0435 0.0115 0.06" pos="0 -0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-          <body name="fr_knee_Link" pos="-0.00075079 -0.1035 -0.25" quat="0.999976 0.00686995 0 0">
-            <inertial pos="-0.0002 -0.0242 -0.1539" mass="0.651" fullinertia="0.0042 0.0045 0.0005 0 0 0.0001"/>
-            <joint name="fr_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_knee_Link"/>
-            <geom size="0.0475 0.015" pos="0 -0.025 -0.1998" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-            <geom size="0.015 0.0125 0.06" pos="0 -0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-            <body name="fr_wheel_Link" pos="0 -0.018447 -0.1998">
-              <inertial pos="0.0002 -0.0407 -0.0001" mass="0.53" diaginertia="0.0017 0.0032 0.0017"/>
-              <joint name="fr_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_wheel_Link"/>
-              <geom size="0.1 0.015" pos="0 -0.040735 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="rl_hip_abduction_Link" pos="-0.024743 0.066141 0.054034">
-        <inertial pos="-0.0488 -0.0026 -0.0008" mass="0.5" diaginertia="0.0003 0.0006 0.0005"/>
-        <joint name="rl_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.436 0.611" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_hip_abduction_Link"/>
-        <body name="rl_hip_pitch_Link" pos="-0.06389 -0.027309 0.00045509">
-          <inertial pos="0.0019 0.1119 -0.048" mass="0.935" diaginertia="0.0062 0.0064 0.001"/>
-          <joint name="rl_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_hip_pitch_Link"/>
-          <geom size="0.046 0.048" pos="0 0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-          <geom size="0.0435 0.0115 0.06" pos="0 0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-          <body name="rl_knee_Link" pos="0 0.099459 -0.25163">
-            <inertial pos="0.0002 0.0242 -0.1539" mass="0.651" fullinertia="0.0042 0.0045 0.0005 0 0 -0.0003"/>
-            <joint name="rl_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_knee_Link"/>
-            <geom size="0.0475 0.015" pos="0 0.025 -0.20027" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-            <geom size="0.015 0.0125 0.06" pos="0 0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-            <body name="rl_wheel_Link" pos="0 0.012475 -0.20027">
-              <inertial pos="-0.0002 0.0407 -0.0001" mass="0.53" diaginertia="0.0017 0.0032 0.0017"/>
-              <joint name="rl_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_wheel_Link"/>
-              <geom size="0.1 0.015" pos="0 0.040737 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="rr_hip_abduction_Link" pos="-0.024743 -0.065884 0.053981">
-        <inertial pos="-0.0488 0.0026 0.0008" mass="0.5" diaginertia="0.0003 0.0006 0.0005"/>
-        <joint name="rr_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.611 0.436" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_hip_abduction_Link"/>
-        <body name="rr_hip_pitch_Link" pos="-0.06389 0.027341 0.00041625">
-          <inertial pos="-0.002 -0.1111 -0.0498" mass="0.935" diaginertia="0.0062 0.0064 0.001"/>
-          <joint name="rr_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_hip_pitch_Link"/>
-          <geom size="0.046 0.048" pos="0 -0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-          <geom size="0.0435 0.0115 0.06" pos="0 -0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-          <body name="rr_knee_Link" pos="-0.00075079 -0.099408 -0.25165">
-            <inertial pos="-0.0002 -0.0225 -0.1541" mass="0.651" fullinertia="0.0042 0.0045 0.0005 0 0 -0.0001"/>
-            <joint name="rr_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_knee_Link"/>
-            <geom size="0.0475 0.015" pos="0 -0.025 -0.20027" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-            <geom size="0.015 0.0125 0.06" pos="0 -0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
-            <body name="rr_wheel_Link" pos="0 -0.012435 -0.20027">
-              <inertial pos="0.0002 -0.0407 -0.0005" mass="0.53" diaginertia="0.0017 0.0032 0.0017"/>
-              <joint name="rr_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_wheel_Link"/>
-              <geom size="0.1 0.015" pos="0 -0.040737 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="imu_link" pos="0.1518 0 0.127">
-        <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="fl_hip_abduction_joint" joint="fl_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="fl_hip_pitch_joint" joint="fl_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="fl_knee_joint" joint="fl_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="fl_wheel_joint" joint="fl_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
-    <general name="fr_hip_abduction_joint" joint="fr_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="fr_hip_pitch_joint" joint="fr_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="fr_knee_joint" joint="fr_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="fr_wheel_joint" joint="fr_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
-    <general name="rl_hip_abduction_joint" joint="rl_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="rl_hip_pitch_joint" joint="rl_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="rl_knee_joint" joint="rl_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="rl_wheel_joint" joint="rl_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
-    <general name="rr_hip_abduction_joint" joint="rr_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="rr_hip_pitch_joint" joint="rr_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="rr_knee_joint" joint="rr_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
-    <general name="rr_wheel_joint" joint="rr_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
-  </actuator>
-</mujoco>
@@ -1,176 +0,0 @@
-from pathlib import Path
-
-import numpy as np
-import torch
-import torch.nn as nn
-
-
-class PolicyMLP(nn.Module):
-    def __init__(self, obs_dim: int, action_dim: int):
-        super().__init__()
-        self.register_buffer("obs_mean", torch.zeros(obs_dim))
-        self.register_buffer("obs_std", torch.ones(obs_dim))
-        self.net = nn.Sequential(
-            nn.Linear(obs_dim, 512),
-            nn.ELU(),
-            nn.Linear(512, 256),
-            nn.ELU(),
-            nn.Linear(256, 128),
-            nn.ELU(),
-            nn.Linear(128, action_dim),
-        )
-
-    def forward(self, x: torch.Tensor) -> torch.Tensor:
-        x = (x - self.obs_mean) / torch.clamp(self.obs_std, min=1e-6)
-        return self.net(x)
-
-
-def load_policy(model_path: Path, device: torch.device) -> PolicyMLP:
-    checkpoint = torch.load(model_path, map_location=device, weights_only=False)
-    state_dict = checkpoint["actor_state_dict"]
-
-    input_key = "mlp.0.weight" if "mlp.0.weight" in state_dict else "net.0.weight"
-    output_key = "mlp.6.weight" if "mlp.6.weight" in state_dict else "net.6.weight"
-    obs_dim = int(state_dict[input_key].shape[1])
-    action_dim = int(state_dict[output_key].shape[0])
-
-    model = PolicyMLP(obs_dim=obs_dim, action_dim=action_dim)
-    remapped_state_dict: dict[str, torch.Tensor] = {}
-    for key, value in state_dict.items():
-        if key.startswith("mlp."):
-            remapped_state_dict[key.replace("mlp.", "net.")] = value
-        elif key.startswith("net."):
-            remapped_state_dict[key] = value
-        elif key == "obs_normalizer._mean":
-            remapped_state_dict["obs_mean"] = value.squeeze()
-        elif key == "obs_normalizer._var":
-            remapped_state_dict["obs_std"] = torch.sqrt(value.squeeze() + 1e-5)
-
-    model.load_state_dict(remapped_state_dict, strict=False)
-    model.eval()
-    model.to(device)
-    model.expected_obs_dim = obs_dim
-    model.expected_action_dim = action_dim
-    return model
-
-
-class PolicyRunner:
-    BASE_OBS_DIM = 53
-    DEFAULT_STAND_POSE = np.array(
-        [
-            0.0, 0.9, -1.8,
-            0.0, 0.9, -1.8,
-            0.0, 0.9, -1.8,
-            0.0, 0.9, -1.8,
-            0.0, 0.0, 0.0, 0.0,
-        ],
-        dtype=np.float32,
-    )
-
-    def __init__(
-        self,
-        policy_path: Path,
-        device: torch.device | None = None,
-        enable_zero_cmd_suppression: bool = True,
-        hold_zero_command_pose: bool = True,
-        command_release_s: float = 0.35,
-        action_scale: np.ndarray | None = None,
-        zero_cmd_use_yaw_rate: bool = True,
-    ):
-        self.device = device or torch.device("cuda" if torch.cuda.is_available() else "cpu")
-        self.policy_path = Path(policy_path)
-        self.enable_zero_cmd_suppression = bool(enable_zero_cmd_suppression)
-        self.hold_zero_command_pose = bool(hold_zero_command_pose)
-        self.command_release_s = max(float(command_release_s), 1e-3)
-        print(f"[PolicyRunner] device={self.device}, policy={self.policy_path}")
-        self.policy = load_policy(self.policy_path, self.device)
-        if self.policy.expected_obs_dim != self.BASE_OBS_DIM:
-            raise ValueError(
-                f"Unsupported policy obs dim {self.policy.expected_obs_dim}. "
-                f"Current sim2real only supports {self.BASE_OBS_DIM}-D actor observations."
-            )
-
-        self.default_dof_pos = self.DEFAULT_STAND_POSE.copy()
-        self.last_actions = np.zeros(16, dtype=np.float32)
-
-        self.action_scale = np.asarray(
-            action_scale
-            if action_scale is not None
-            else [
-                0.125, 0.25, 0.25,
-                0.125, 0.25, 0.25,
-                0.125, 0.25, 0.25,
-                0.125, 0.25, 0.25,
-                5.0, 5.0, 5.0, 5.0,
-            ],
-            dtype=np.float32,
-        )
-        if self.action_scale.shape != (16,):
-            raise ValueError(f"action_scale must be shape (16,), got {self.action_scale.shape}")
-
-        self.zero_cmd_lin_thresh = 0.05
-        self.zero_cmd_yaw_thresh = 0.05
-        self.zero_yaw_rate_thresh = 0.10
-        self.zero_cmd_use_yaw_rate = bool(zero_cmd_use_yaw_rate)
-        self._command_release_alpha = 0.0
-        print(
-            f"[PolicyRunner] obs_dim={self.policy.expected_obs_dim}, "
-            f"base_obs_dim={self.BASE_OBS_DIM}, history=1, "
-            f"action_dim={self.policy.expected_action_dim}, "
-            f"zero_cmd_suppression={self.enable_zero_cmd_suppression}, "
-            f"hold_zero_command_pose={self.hold_zero_command_pose}"
-        )
-
-    def reset(self, prime_obs: np.ndarray | None = None) -> None:
-        self.last_actions = np.zeros(16, dtype=np.float32)
-        self._command_release_alpha = 0.0
-
-    def _is_zero_command(self, command: np.ndarray, base_ang_vel: np.ndarray) -> bool:
-        cmd_is_zero = (
-            np.linalg.norm(command[:2]) < self.zero_cmd_lin_thresh
-            and abs(command[2]) < self.zero_cmd_yaw_thresh
-        )
-        if not self.zero_cmd_use_yaw_rate:
-            return cmd_is_zero
-        return cmd_is_zero and abs(base_ang_vel[2]) < self.zero_yaw_rate_thresh
-
-    def command_activation_metrics(self, command: np.ndarray) -> tuple[float, float]:
-        command = np.asarray(command, dtype=np.float32)
-        planar = float(np.linalg.norm(command[:2]))
-        yaw = float(abs(command[2]))
-        return planar, yaw
-
-    def is_command_active(self, command: np.ndarray) -> bool:
-        planar, yaw = self.command_activation_metrics(command)
-        return planar >= self.zero_cmd_lin_thresh or yaw >= self.zero_cmd_yaw_thresh
-
-    def step(self, obs: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
-        obs = np.asarray(obs, dtype=np.float32)
-        expected_obs_dim = int(self.policy.expected_obs_dim)
-        if obs.shape[0] != expected_obs_dim:
-            raise ValueError(
-                f"Observation dim mismatch: got {obs.shape[0]}, expected {expected_obs_dim}."
-            )
-
-        obs_tensor = torch.tensor(obs, dtype=torch.float32, device=self.device).unsqueeze(0)
-        with torch.no_grad():
-            raw_actions = self.policy(obs_tensor).squeeze(0).cpu().numpy()
-
-        raw_actions = np.clip(raw_actions, -10.0, 10.0).astype(np.float32)
-        command = obs[6:9]
-        base_ang_vel = obs[0:3] / 0.25
-        zero_command = self._is_zero_command(command, base_ang_vel)
-        if zero_command:
-            self._command_release_alpha = 0.0
-            if self.hold_zero_command_pose:
-                raw_actions[:] = 0.0
-            elif self.enable_zero_cmd_suppression:
-                raw_actions[12:16] = 0.0
-                raw_actions[:12] *= 0.5
-        else:
-            self._command_release_alpha = min(1.0, self._command_release_alpha + 0.02 / self.command_release_s)
-            raw_actions *= self._command_release_alpha
-
-        self.last_actions = raw_actions.copy()
-        scaled_actions = raw_actions * self.action_scale
-        return scaled_actions, raw_actions
@@ -1,7 +0,0 @@
-numpy
-PyYAML
-torch
-pyserial
-
-# Optional:
-# pynput        # only needed for CLI keyboard control
@@ -1,78 +0,0 @@
-"""通用运行期守护：每个控制周期调用一次，无副作用，只做检查。
-
-设计原则：
- 守护函数本身不下发动作、不打印（除非 verbose），只返回判定
- 调用方决定收到 GuardStop 时怎么办（damping_brake 或 raise）
- 起立期 / 等待期 / 主循环都共用同一组检查
-"""
-from dataclasses import dataclass
-from enum import IntEnum
-from typing import Optional
-
-import numpy as np
-
-
-class GuardLevel(IntEnum):
-    OK = 0
-    WARN = 1       # 仅记录，不停
-    STOP = 2       # 主调方应立刻 damping_brake + 退出当前阶段
-
-
-@dataclass
-class GuardDecision:
-    level: GuardLevel
-    reason: str  # 触发时人类可读说明，OK 时为空
-
-
-class RuntimeGuard:
-    """启动/起立/主循环共用的安全守护。
-
-    不监控目标位置范围（那是 SafetyMonitor 的职责）。这里只关心
-    机身整体状态：是否倾倒、是否翻滚、是否检测到 NaN、用户是否按急停。
-    """
-
-    def __init__(self,
-                 max_ang_vel: float = 12.0,
-                 max_tilt_z: float = -0.30,
-                 imu_age_warn_ms: float = 60.0,
-                 imu_age_stop_ms: float = 200.0):
-        self.max_ang_vel = max_ang_vel
-        self.max_tilt_z = max_tilt_z
-        self.imu_age_warn_ms = imu_age_warn_ms
-        self.imu_age_stop_ms = imu_age_stop_ms
-
-    def check(self,
-              imu_gyro: np.ndarray,
-              projected_gravity: np.ndarray,
-              imu_age_ms: float,
-              estop_triggered: bool,
-              extra_nan_arrays: tuple = ()) -> GuardDecision:
-        # 1) 用户急停
-        if estop_triggered:
-            return GuardDecision(GuardLevel.STOP, "user E-stop")
-
-        # 2) NaN 检查（任意输入数组中出现 NaN）
-        for arr in (imu_gyro, projected_gravity, *extra_nan_arrays):
-            if arr is None:
-                continue
-            if np.any(np.isnan(arr)) or np.any(np.isinf(arr)):
-                return GuardDecision(GuardLevel.STOP, "NaN/Inf detected in observation/action")
-
-        # 3) IMU 数据陈旧
-        if imu_age_ms > self.imu_age_stop_ms:
-            return GuardDecision(GuardLevel.STOP, f"IMU stale {imu_age_ms:.0f}ms")
-        warned_imu = imu_age_ms > self.imu_age_warn_ms
-
-        # 4) 倾倒
-        if projected_gravity[2] > self.max_tilt_z:
-            return GuardDecision(GuardLevel.STOP,
-                                 f"tilt: g_z={projected_gravity[2]:.3f}")
-
-        # 5) 角速度爆表
-        ang_norm = float(np.linalg.norm(imu_gyro))
-        if ang_norm > self.max_ang_vel:
-            return GuardDecision(GuardLevel.STOP, f"ang_vel overflow: |w|={ang_norm:.2f}")
-
-        if warned_imu:
-            return GuardDecision(GuardLevel.WARN, f"IMU age {imu_age_ms:.0f}ms")
-        return GuardDecision(GuardLevel.OK, "")
@@ -1,107 +0,0 @@
-"""三级安全监控（对应方法论 97.11）。
-
-Level 0: 正常
-Level 1: 限幅（位置/速度异常）— 截断目标位置幅值，记录连续触发次数
-Level 2: 刹车（连续限幅 N 次 / IMU 角速度过大 / 倾倒）— 卸载刚度只留阻尼
-Level 3: 急停（用户触发）— 让上层断电
-
-设计原则：监控只判定，不直接关电机；返回 SafetyDecision 由上层决策。
-"""
-from dataclasses import dataclass
-from enum import IntEnum
-from typing import Any, Optional
-
-import numpy as np
-
-
-class SafetyLevel(IntEnum):
-    NORMAL = 0
-    CLIP = 1
-    BRAKE = 2
-    ESTOP = 3
-
-
-@dataclass
-class SafetyDecision:
-    level: SafetyLevel
-    message: str
-    clipped_target: Optional[np.ndarray]
-    details: Optional[dict[str, Any]] = None
-
-
-class SafetyMonitor:
-    """安全监控（按 50Hz 控制频率调用）。
-
-    Args:
-        max_target_offset: 单关节相对默认位姿的最大偏离 (rad)
-        max_ang_vel: IMU 角速度模 (rad/s)
-        max_tilt_rad: 机身重力 z 轴投影低于该值认为已严重倾倒
-        clip_to_brake: 连续 clip 多少帧升级为刹车
-    """
-
-    def __init__(self,
-                 max_target_offset: float = 0.6,
-                 max_ang_vel: float = 10.0,
-                 max_tilt_z: float = -0.3,
-                 clip_to_brake: int = 3):
-        self.max_target_offset = max_target_offset
-        self.max_ang_vel = max_ang_vel
-        self.max_tilt_z = max_tilt_z  # projected_gravity z 应当 ~ -1，明显小于 -0.3 视作倾倒
-        self.clip_to_brake = clip_to_brake
-        self.consecutive_clips = 0
-
-    def check(self,
-              target_pose: np.ndarray,
-              default_pose: np.ndarray,
-              imu_gyro: np.ndarray,
-              projected_gravity: np.ndarray,
-              estop_triggered: bool) -> SafetyDecision:
-        if estop_triggered:
-            return SafetyDecision(SafetyLevel.ESTOP, "user E-stop", None, None)
-
-        # 倾倒（projected_gravity[2] 应在 -1 附近，越接近 0 越倾斜）
-        if projected_gravity[2] > self.max_tilt_z:
-            return SafetyDecision(
-                SafetyLevel.BRAKE,
-                f"tilt detected: g_z={projected_gravity[2]:.3f}",
-                None,
-                {"g_z": float(projected_gravity[2])},
-            )
-
-        # 角速度爆表（猛烈翻滚）
-        if np.linalg.norm(imu_gyro) > self.max_ang_vel:
-            return SafetyDecision(
-                SafetyLevel.BRAKE,
-                f"angular velocity overflow: |w|={np.linalg.norm(imu_gyro):.2f}",
-                None,
-                {"ang_vel_norm": float(np.linalg.norm(imu_gyro))},
-            )
-
-        # 目标位置偏离过大 → 截断到允许范围
-        offset_leg = target_pose[:12] - default_pose[:12]
-        clipped_offset = np.clip(offset_leg, -self.max_target_offset, self.max_target_offset)
-        if not np.allclose(offset_leg, clipped_offset):
-            self.consecutive_clips += 1
-            clipped = target_pose.copy()
-            clipped[:12] = default_pose[:12] + clipped_offset
-            exceeded = np.where(np.abs(offset_leg) > self.max_target_offset)[0].tolist()
-            max_offset = float(np.max(np.abs(offset_leg)))
-            details = {
-                "joint_indices": exceeded,
-                "max_leg_offset": max_offset,
-                "consecutive_clips": int(self.consecutive_clips),
-            }
-            if self.consecutive_clips >= self.clip_to_brake:
-                return SafetyDecision(
-                    SafetyLevel.BRAKE,
-                    f"clipped {self.consecutive_clips} frames in a row",
-                    clipped,
-                    details,
-                )
-            return SafetyDecision(SafetyLevel.CLIP, "target leg offset out of range", clipped, details)
-
-        self.consecutive_clips = 0
-        return SafetyDecision(SafetyLevel.NORMAL, "", None, None)
-
-    def reset(self):
-        self.consecutive_clips = 0
--- a/Show More
+++ b/Show More
				`@@ -1 +0,0 @@`
				`机械设计采用26版本sw设计，装配，以及urdf导出，为减少sw装配出现问题，采用单件装配小件各个关节装配体，转step关节文件，step各关节装配总装配体方案`