feat: huoyi M20 smooth/bridge training and stability docs
Current code snapshot: smooth/bridge task configs, smooth random terrain, roll/pitch stability rewards, M20 URDF updates, eval profile and stability training documentation.
This commit is contained in:
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{
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"source_dir": "/home/ycpy/huangweifeng/hwf_workspace/rl_training_huoyi/rl_training/deep_robotics_model/M20/M20_urdf/meshes_solenopsis",
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"grid_mm": 2.0,
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"maximum_vertex_displacement_mm": 1.7320508075688772,
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"optimized_faces": 234820,
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"meshes": [
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{
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"file": "base_link.STL",
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},
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{
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"file": "fl_knee.STL",
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{
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"file": "hl_knee.STL",
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{
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"file": "hr_knee.STL",
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{
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"file": "hr_wheel.STL",
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}
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]
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}
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@@ -0,0 +1,292 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!--
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Solenopsis fire-ant, generated from the 2026 SolidWorks STEP assembly.
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Units: metre, kilogram, radian, kg*m^2.
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Coordinate conversion: (x,y,z)_URDF = (z,x,y)_SolidWorks.
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All inertia tensors are about each rigid body's own centre of mass.
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Visual geometry uses the STEP-derived STL files in
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../meshes_solenopsis_visual at a millimetre-to-metre scale of 0.001.
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Collision geometry remains primitive boxes and cylinders.
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The 0.127 kg gap between the supplied rigid-group masses and the supplied
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whole-robot mass is lumped into base_link at the reported base COM. Thus
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base mass is 17.274 + 0.127 = 17.401 kg, while its reported COM and inertia
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tensor are unchanged. No spatial distribution is invented for that mass.
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-->
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<robot name="Solenopsis_fire_ant">
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<link name="base_link">
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<inertial>
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<origin xyz="-0.000072 0.000171 0.076892" rpy="0 0 0"/>
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<mass value="15.84"/>
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<inertia ixx="0.121947189" ixy="-0.000666758" ixz="0.000143011"
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iyy="0.331070194" iyz="0.000150561" izz="0.410284855"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="../meshes_solenopsis_visual/base_link.STL" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0.0788" rpy="0 0 0"/>
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<geometry>
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<box size="0.706 0.310 0.1714"/>
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</geometry>
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</collision>
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</link>
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<!-- Front-left. Left-link tensors use the exact proper rotation
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(x,y,z)_link = (-z,-x,y)_SolidWorks-module. -->
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<link name="fl_knee">
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<inertial>
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<origin xyz="-0.000040 -0.001088 -0.158988" rpy="0 0 0"/>
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<mass value="0.885"/>
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<inertia ixx="0.013089177" ixy="0.000002705" ixz="0.000004495"
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iyy="0.013409459" iyz="-0.000242701" izz="0.000443796"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="../meshes_solenopsis_visual/fl_knee.STL" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 -0.0005 -0.15575" rpy="0 0 0"/>
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<geometry>
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<box size="0.088 0.031 0.3765"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 -0.02625 0" rpy="1.570796326795 0 0"/>
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<geometry>
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<cylinder length="0.0205" radius="0.01995"/>
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</geometry>
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</collision>
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</link>
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<joint name="fl_knee_joint" type="revolute">
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<origin xyz="0.117577164466 0.167 0.070" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="fl_knee"/>
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<axis xyz="0 -1 0"/>
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<limit lower="-2.792" upper="2.809" effort="75.0" velocity="17.8024"/>
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</joint>
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<link name="fl_wheel">
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<inertial>
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<origin xyz="-0.000002 0.064 -0.000009" rpy="0 0 0"/>
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<mass value="1.340"/>
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<inertia ixx="0.004085980" ixy="0.000000178" ixz="-0.000000095"
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iyy="0.007221854" iyz="0.000000526" izz="0.004086529"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="../meshes_solenopsis_visual/fl_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0.064 0" rpy="1.570796326795 0 0"/>
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<geometry>
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<cylinder length="0.12" radius="0.11"/>
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</geometry>
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</collision>
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</link>
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<joint name="fl_wheel_joint" type="continuous">
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<origin xyz="0 0 -0.300" rpy="0 0 0"/>
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<parent link="fl_knee"/>
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<child link="fl_wheel"/>
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<axis xyz="0 -1 0"/>
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<limit effort="28.68" velocity="109.956"/>
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</joint>
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<!-- Front-right. Right-link tensors use the exact proper rotation
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(x,y,z)_link = (z,x,y)_SolidWorks-module. -->
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<link name="fr_knee">
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<inertial>
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<origin xyz="0.000040 0.001088 -0.158988" rpy="0 0 0"/>
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<mass value="0.885"/>
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<inertia ixx="0.013089177" ixy="0.000002705" ixz="-0.000004495"
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iyy="0.013409459" iyz="0.000242701" izz="0.000443796"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="../meshes_solenopsis_visual/fr_knee.STL" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0.0005 -0.15575" rpy="0 0 0"/>
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<geometry>
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<box size="0.088 0.031 0.3765"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.02625 0" rpy="1.570796326795 0 0"/>
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<geometry>
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<cylinder length="0.0205" radius="0.01995"/>
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</geometry>
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</collision>
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</link>
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<joint name="fr_knee_joint" type="revolute">
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<origin xyz="0.117577164466 -0.167 0.070" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="fr_knee"/>
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<axis xyz="0 -1 0"/>
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<limit lower="-2.792" upper="2.809" effort="75.0" velocity="17.8024"/>
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</joint>
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<link name="fr_wheel">
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<inertial>
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<origin xyz="0.000002 -0.064 -0.000009" rpy="0 0 0"/>
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<mass value="1.340"/>
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<inertia ixx="0.004085980" ixy="0.000000178" ixz="0.000000095"
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iyy="0.007221854" iyz="-0.000000526" izz="0.004086529"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="../meshes_solenopsis_visual/fr_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 -0.064 0" rpy="1.570796326795 0 0"/>
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<geometry>
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<cylinder length="0.12" radius="0.11"/>
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</geometry>
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</collision>
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</link>
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<joint name="fr_wheel_joint" type="continuous">
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<origin xyz="0 0 -0.300" rpy="0 0 0"/>
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<parent link="fr_knee"/>
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<child link="fr_wheel"/>
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<axis xyz="0 -1 0"/>
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<limit effort="28.68" velocity="109.956"/>
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</joint>
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<link name="hl_knee">
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<inertial>
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<origin xyz="-0.000040 -0.001088 -0.158988" rpy="0 0 0"/>
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<mass value="0.885"/>
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<inertia ixx="0.013089177" ixy="0.000002705" ixz="0.000004495"
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iyy="0.013409459" iyz="-0.000242701" izz="0.000443796"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="../meshes_solenopsis_visual/hl_knee.STL" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 -0.0005 -0.15575" rpy="0 0 0"/>
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<geometry>
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<box size="0.088 0.031 0.3765"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 -0.02625 0" rpy="1.570796326795 0 0"/>
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<geometry>
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<cylinder length="0.0205" radius="0.01995"/>
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</geometry>
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</collision>
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</link>
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<joint name="hl_knee_joint" type="revolute">
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<origin xyz="-0.117577164466 0.167 0.070" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="hl_knee"/>
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<axis xyz="0 -1 0"/>
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<limit lower="-2.809" upper="2.792" effort="75.0" velocity="17.8024"/>
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</joint>
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<link name="hl_wheel">
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<inertial>
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<origin xyz="-0.000002 0.064 -0.000009" rpy="0 0 0"/>
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<mass value="1.340"/>
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<inertia ixx="0.004085980" ixy="0.000000178" ixz="-0.000000095"
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iyy="0.007221854" iyz="0.000000526" izz="0.004086529"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="../meshes_solenopsis_visual/hl_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0.064 0" rpy="1.570796326795 0 0"/>
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<geometry>
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<cylinder length="0.12" radius="0.11"/>
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</geometry>
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</collision>
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</link>
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<joint name="hl_wheel_joint" type="continuous">
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<origin xyz="0 0 -0.300" rpy="0 0 0"/>
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<parent link="hl_knee"/>
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<child link="hl_wheel"/>
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<axis xyz="0 -1 0"/>
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<limit effort="28.68" velocity="109.956"/>
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</joint>
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<link name="hr_knee">
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<inertial>
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<origin xyz="0.000040 0.001088 -0.158988" rpy="0 0 0"/>
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<mass value="0.885"/>
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<inertia ixx="0.013089177" ixy="0.000002705" ixz="-0.000004495"
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iyy="0.013409459" iyz="0.000242701" izz="0.000443796"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="../meshes_solenopsis_visual/hr_knee.STL" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0.0005 -0.15575" rpy="0 0 0"/>
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<geometry>
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<box size="0.088 0.031 0.3765"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.02625 0" rpy="1.570796326795 0 0"/>
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<geometry>
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<cylinder length="0.0205" radius="0.01995"/>
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</geometry>
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</collision>
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</link>
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<joint name="hr_knee_joint" type="revolute">
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<origin xyz="-0.117577164466 -0.167 0.070" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="hr_knee"/>
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<axis xyz="0 -1 0"/>
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<limit lower="-2.809" upper="2.792" effort="75.0" velocity="17.8024"/>
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</joint>
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<link name="hr_wheel">
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<inertial>
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<origin xyz="0.000002 -0.064 -0.000009" rpy="0 0 0"/>
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<mass value="1.340"/>
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||||
<inertia ixx="0.004085980" ixy="0.000000178" ixz="0.000000095"
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iyy="0.007221854" iyz="-0.000000526" izz="0.004086529"/>
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||||
</inertial>
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<visual>
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||||
<geometry>
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<mesh filename="../meshes_solenopsis_visual/hr_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
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||||
</geometry>
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||||
</visual>
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||||
<collision>
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||||
<origin xyz="0 -0.064 0" rpy="1.570796326795 0 0"/>
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<geometry>
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||||
<cylinder length="0.12" radius="0.11"/>
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||||
</geometry>
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</collision>
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</link>
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<joint name="hr_wheel_joint" type="continuous">
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<origin xyz="0 0 -0.300" rpy="0 0 0"/>
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<parent link="hr_knee"/>
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<child link="hr_wheel"/>
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<axis xyz="0 -1 0"/>
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<limit effort="28.68" velocity="109.956"/>
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</joint>
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</robot>
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||||
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