Initial commit

.gitignore

@@ -1,37 +0,0 @@
-# Local reference material
-/00_reference/
-
-# Python
-__pycache__/
-*.py[cod]
-.venv/
-venv/
-
-# Build outputs
-build/
-install/
-devel/
-log/
-*.o
-*.so
-*.a
-*.elf
-*.hex
-*.bin
-*.axf
-
-# Training outputs
-logs/
-checkpoints/
-wandb/
-
-# IDE and operating system files
-.idea/
-.vscode/
-.trae/
-.DS_Store
-Thumbs.db
-
-# Temporary and backup files
-*.Bak
-~$*

01_doc/README.md

@@ -1,14 +0,0 @@
-# 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。
-
-后续建议按主题组织：
-
-```text
-01_doc/
-├─ architecture/   # 系统架构和数据流
-├─ control/        # 控制与强化学习原理
-├─ deployment/     # Sim2Sim 和 Sim2Real 部署
-├─ hardware/       # 接线、标定和硬件兼容性
-└─ user_guide/     # 安装、运行和调试说明
-```

02_mechanical/CAD/README.md

@@ -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。

02_mechanical/README.md

@@ -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。

02_mechanical/STEP/README.md

@@ -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

02_mechanical/STEP/轮毂垫片.STEP

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-    ( '' ),
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02_mechanical/source_notes.txt

@@ -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

03_hardware/README.md

@@ -1,5 +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。

04_firmware/README.md

@@ -1,5 +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。

05_software/README.md

@@ -1,13 +0,0 @@
-# 软件
-
-本目录用于整理 16DOF 轮足机器人的上层软件。
-
-```text
-05_software/
-├─ train/      # 强化学习训练任务和配置
-├─ sim/        # Sim2Sim 和独立仿真
-├─ real/       # Sim2Real 与 ROS 2 真机部署
-└─ tools/      # 导航、地图、诊断和转换工具
-```
-
-历史版本通过 Git Tag 保存，同一模块不使用 `old`、`final`、`v2` 等目录复制完整代码。

06_assets/README.md

@@ -1,5 +0,0 @@
-# 媒体与测试结果
-
-本目录用于保存 16DOF 轮足机器人的原创图片、演示视频索引、测试图表和比赛结果。
-
-大体积视频和完整日志建议作为 Release 附件发布，仓库内保留压缩预览、图表和链接。

README.md

@@ -1,44 +1,2 @@
 # RC_WheelLeg
 
-RC_WheelLeg 是山东华宇工学院 16DOF 串联轮足机器人项目。
-
-当前 `16dof` 分支用于整理 16DOF 机械、强化学习训练、Sim2Sim、Sim2Real、ROS 2 部署和比赛版本。机械源文件与 STEP 交换文件已经完成首轮整理，其他模块将在确认权威来源后逐步导入。
-
-## 平台概览
-
-- 四条轮腿
-- 每条腿 3 个腿部关节
-- 4 个驱动轮
-- 总计 16 个执行器
-- 控制路线：强化学习训练、仿真验证和真机部署
-
-## 目录结构
-
-```text
-RC_WheelLeg/
-├─ 01_doc/          # 项目技术文档和使用说明
-├─ 02_mechanical/   # CAD、STEP、URDF 和 MJCF
-├─ 03_hardware/     # 自研电路、接线和硬件说明
-├─ 04_firmware/     # MCU 或嵌入式控制器固件
-├─ 05_software/     # 训练、仿真、部署和工具
-├─ 06_assets/       # 图片、视频和测试结果
-├─ .gitignore
-└─ README.md
-```
-
-## 当前状态
-
-- [x] 整理 SolidWorks 机械源文件
-- [x] 整理整机与关节 STEP 文件
-- [ ] 核对比赛机械与仿真模型参数
-- [ ] 整理 URDF/MJCF 机器人描述
-- [ ] 整理强化学习、Sim2Sim 和 Sim2Real
-
-机械资料入口见 [`02_mechanical/README.md`](02_mechanical/README.md)。
-
-## 版本管理
-
-- `8dof` 分支和 `v0.1.0` Tag 保存第一代 8DOF 实机版本。
-- `16dof` 分支承载第二代轮足平台的完整演进。
-- 线性演进阶段使用 Commit、Tag 和 Release 保存，不复制 `old`、`final` 或 `v2` 目录。
-- 只有需要长期并行维护的不兼容路线才建立独立分支。