327 lines
28 KiB
XML
327 lines
28 KiB
XML
<mujoco model="go2w scene">
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<include file="C:/Users/31560/Documents/00_legged/new_rl/rc_mjlab/mjcf/wheelleg.xml"/>
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<statistic center="3.7 -9.0 0.4" extent="5.0"/>
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<global azimuth="90" elevation="-20"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
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<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"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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<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"/>
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<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"/>
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</asset>
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<worldbody>
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<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
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<!-- 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 -->
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<geom pos="1.8 -7.0 0.15"
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type="box"
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size="0.025 0.5 0.15"
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quat="0.7071068 0.0 0.0 0.7071068"
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rgba="1.0 0.9 0.4 1.0"/>
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<!-- 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 -->
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<geom pos="4.8361 -12.5 0.075"
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type="box"
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size="0.5 0.5 0.075"
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quat="0.0 0.0 0.0 1.0"
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rgba="0.75 0.72 0.55 1.0"/>
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<geom pos="5.8361 -12.0 0.075"
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type="box"
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size="0.5 1.0 0.075"
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quat="0.0 0.0 0.0 1.0"
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rgba="0.75 0.72 0.55 1.0"/>
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<!-- 限高杆 -->
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<geom pos="6.2 -9.0 0.155"
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type="cylinder"
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size="0.025 0.155"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.8 0.1 0.1 1.0" />
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<geom pos="5.2 -9.0 0.155"
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type="cylinder"
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size="0.025 0.155"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.8 0.1 0.1 1.0" />
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<geom pos="5.7 -9.0 0.325"
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type="cylinder"
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size="0.015 0.5"
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quat="0.7071068 0.0 0.7071068 0.0"
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rgba="1.0 0.9 0.4 1.0"/>
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<!-- 1m × 1m 正方形颜色块，出发区-->
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<geom pos="3.7 -9.0 0.0"
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type="box"
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size="0.5 0.5 0.001"
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rgba="1.0 0.0 0.0 0.35"
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contype="0"
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conaffinity="0" />
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<!-- 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 -->
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<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" />
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<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"/>
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<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"/>
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<!-- 最高平台：y = -3.50，与目标平台y轴对齐 -->
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<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"/>
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<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"/>
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<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"/>
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<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"/>
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<!-- 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 -->
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<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"/>
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<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"/>
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<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"/>
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<!-- 斜坡木桥A木桥B -->
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<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"/>
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<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"/>
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<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"/>
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<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"/>
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<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"/>
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<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"/>
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<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"/>
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<geom pos="4.8002 -1.0 0.0951"
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type="box"
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size="0.4133 0.5 0.005"
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quat="0.992546 0.0 -0.121869 0.0"
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rgba="0.75 0.72 0.55 1.0"/>
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<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"/>
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<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"/>
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<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"/>
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<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"/>
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<!-- 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 -->
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<geom pos="4.6338 -5.0 0.0951"
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type="box"
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size="0.5759 2.0 0.005"
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quat="0.9961947 0.0 -0.0871557 0.0"
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rgba="0.75 0.72 0.55 1.0"/>
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<!-- 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 -->
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<geom pos="5.7681 -5.5 0.0951"
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type="box"
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size="0.5759 1.5 0.005"
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quat="0.9961947 0.0 0.0871557 0.0"
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rgba="0.75 0.72 0.55 1.0"/>
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<!--绕杆-->
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<!-- 直径1m圆形颜色块，仅显示，不碰撞 -->
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<geom pos="1.8 -10.1 0.0"
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type="cylinder"
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size="0.1 0.001"
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rgba="1.0 0.0 0.0 0.35"
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contype="0"
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conaffinity="0" />
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<geom pos="3.2 -12.5 0.0"
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type="cylinder"
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size="0.1 0.001"
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rgba="1.0 0.0 0.0 0.35"
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contype="0"
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conaffinity="0" />
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<geom pos="1.55 -12.75 0.0"
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type="cylinder"
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size="0.1 0.001"
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rgba="1.0 0.0 0.0 0.35"
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contype="0"
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conaffinity="0" />
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<!-- 原杆 -->
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<geom pos="1.8 -10.5 0.02"
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type="cylinder"
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size="0.05 0.02"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.75 0.72 0.55 1.0" />
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<geom pos="1.8 -10.5 0.37"
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type="cylinder"
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size="0.015 0.33"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.75 0.72 0.55 1.0" />
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<!-- y轴负方向第1根：间隔1m -->
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<geom pos="1.8 -11.5 0.02"
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type="cylinder"
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size="0.05 0.02"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.75 0.72 0.55 1.0" />
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<geom pos="1.8 -11.5 0.37"
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type="cylinder"
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size="0.015 0.33"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.75 0.72 0.55 1.0" />
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<!-- y轴负方向第2根：继续间隔1m -->
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<geom pos="1.8 -12.5 0.02"
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type="cylinder"
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size="0.05 0.02"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.75 0.72 0.55 1.0" />
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<geom pos="1.8 -12.5 0.37"
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type="cylinder"
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size="0.015 0.33"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.75 0.72 0.55 1.0" />
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<!-- x轴正方向第3根：继续间隔1m -->
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<geom pos="2.8 -12.5 0.02"
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type="cylinder"
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size="0.05 0.02"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.75 0.72 0.55 1.0" />
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<geom pos="2.8 -12.5 0.37"
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type="cylinder"
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size="0.015 0.33"
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quat="1.0 0.0 0.0 0.0"
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rgba="0.75 0.72 0.55 1.0" />
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<!--===================================================================其他障碍=====================================================================================-->
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<!-- 5cm台阶 -->
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<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" />
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<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" />
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<!-- 斜坡 -->
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