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feat: add smooth/bridge tasks and fire ant stability training docs

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- register Smooth/Bridge M20 tasks and add env configs
- add smooth random terrain and roll/pitch orientation rewards
- update M20 URDF mass and wheel geometry, refresh prototype specs
- add fire ant smooth training task document
This commit is contained in:
syfffffjj
2026-11-02 16:36:38 +08:00
parent ee8963cf4c
commit 9eab8830a4
14 changed files with 1016 additions and 109 deletions
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deep_robotics_model/M20/M20_urdf/urdf/Solenopsis.urdf
+39 -39
View File
@@ -20,9 +20,9 @@
<link name="base_link">
<inertial>
<origin xyz="-0.000072 0.000171 0.076892" rpy="0 0 0"/>
<mass value="17.401"/>
<inertia ixx="0.133964838" ixy="-0.000732466" ixz="0.000157104"
iyy="0.363696493" iyz="0.000165399" izz="0.450717599"/>
<mass value="15.84"/>
<inertia ixx="0.121947189" ixy="-0.000666758" ixz="0.000143011"
iyy="0.331070194" iyz="0.000150561" izz="0.410284855"/>
</inertial>
<visual>
<geometry>
@@ -42,9 +42,9 @@
<link name="fl_knee">
<inertial>
<origin xyz="-0.000040 -0.001088 -0.158988" rpy="0 0 0"/>
<mass value="0.955"/>
<inertia ixx="0.014124479" ixy="0.000002919" ixz="0.000004851"
iyy="0.014470094" iyz="-0.000261898" izz="0.000478899"/>
<mass value="0.885"/>
<inertia ixx="0.013089177" ixy="0.000002705" ixz="0.000004495"
iyy="0.013409459" iyz="-0.000242701" izz="0.000443796"/>
</inertial>
<visual>
<geometry>
@@ -75,20 +75,20 @@
<link name="fl_wheel">
<inertial>
<origin xyz="-0.000002 0.059326 -0.000009" rpy="0 0 0"/>
<origin xyz="-0.000002 0.064 -0.000009" rpy="0 0 0"/>
<mass value="1.340"/>
<inertia ixx="0.003296552" ixy="0.000000144" ixz="-0.000000077"
iyy="0.005826562" iyz="0.000000424" izz="0.003296995"/>
<inertia ixx="0.004085980" ixy="0.000000178" ixz="-0.000000095"
iyy="0.007221854" iyz="0.000000526" izz="0.004086529"/>
</inertial>
<visual>
<geometry>
<mesh filename="../meshes_solenopsis_visual/fl_wheel.STL" scale="0.001 0.001 0.001"/>
<mesh filename="../meshes_solenopsis_visual/fl_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.0457795 0" rpy="1.570796326795 0 0"/>
<origin xyz="0 0.064 0" rpy="1.570796326795 0 0"/>
<geometry>
<cylinder length="0.082959" radius="0.098804"/>
<cylinder length="0.12" radius="0.11"/>
</geometry>
</collision>
</link>
@@ -106,9 +106,9 @@
<link name="fr_knee">
<inertial>
<origin xyz="0.000040 0.001088 -0.158988" rpy="0 0 0"/>
<mass value="0.955"/>
<inertia ixx="0.014124479" ixy="0.000002919" ixz="-0.000004851"
iyy="0.014470094" iyz="0.000261898" izz="0.000478899"/>
<mass value="0.885"/>
<inertia ixx="0.013089177" ixy="0.000002705" ixz="-0.000004495"
iyy="0.013409459" iyz="0.000242701" izz="0.000443796"/>
</inertial>
<visual>
<geometry>
@@ -139,20 +139,20 @@
<link name="fr_wheel">
<inertial>
<origin xyz="0.000002 -0.059326 -0.000009" rpy="0 0 0"/>
<origin xyz="0.000002 -0.064 -0.000009" rpy="0 0 0"/>
<mass value="1.340"/>
<inertia ixx="0.003296552" ixy="0.000000144" ixz="0.000000077"
iyy="0.005826562" iyz="-0.000000424" izz="0.003296995"/>
<inertia ixx="0.004085980" ixy="0.000000178" ixz="0.000000095"
iyy="0.007221854" iyz="-0.000000526" izz="0.004086529"/>
</inertial>
<visual>
<geometry>
<mesh filename="../meshes_solenopsis_visual/fr_wheel.STL" scale="0.001 0.001 0.001"/>
<mesh filename="../meshes_solenopsis_visual/fr_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
</geometry>
</visual>
<collision>
<origin xyz="0 -0.0457795 0" rpy="1.570796326795 0 0"/>
<origin xyz="0 -0.064 0" rpy="1.570796326795 0 0"/>
<geometry>
<cylinder length="0.082959" radius="0.098804"/>
<cylinder length="0.12" radius="0.11"/>
</geometry>
</collision>
</link>
@@ -168,9 +168,9 @@
<link name="hl_knee">
<inertial>
<origin xyz="-0.000040 -0.001088 -0.158988" rpy="0 0 0"/>
<mass value="0.955"/>
<inertia ixx="0.014124479" ixy="0.000002919" ixz="0.000004851"
iyy="0.014470094" iyz="-0.000261898" izz="0.000478899"/>
<mass value="0.885"/>
<inertia ixx="0.013089177" ixy="0.000002705" ixz="0.000004495"
iyy="0.013409459" iyz="-0.000242701" izz="0.000443796"/>
</inertial>
<visual>
<geometry>
@@ -201,20 +201,20 @@
<link name="hl_wheel">
<inertial>
<origin xyz="-0.000002 0.059326 -0.000009" rpy="0 0 0"/>
<origin xyz="-0.000002 0.064 -0.000009" rpy="0 0 0"/>
<mass value="1.340"/>
<inertia ixx="0.003296552" ixy="0.000000144" ixz="-0.000000077"
iyy="0.005826562" iyz="0.000000424" izz="0.003296995"/>
<inertia ixx="0.004085980" ixy="0.000000178" ixz="-0.000000095"
iyy="0.007221854" iyz="0.000000526" izz="0.004086529"/>
</inertial>
<visual>
<geometry>
<mesh filename="../meshes_solenopsis_visual/hl_wheel.STL" scale="0.001 0.001 0.001"/>
<mesh filename="../meshes_solenopsis_visual/hl_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.0457795 0" rpy="1.570796326795 0 0"/>
<origin xyz="0 0.064 0" rpy="1.570796326795 0 0"/>
<geometry>
<cylinder length="0.082959" radius="0.098804"/>
<cylinder length="0.12" radius="0.11"/>
</geometry>
</collision>
</link>
@@ -230,9 +230,9 @@
<link name="hr_knee">
<inertial>
<origin xyz="0.000040 0.001088 -0.158988" rpy="0 0 0"/>
<mass value="0.955"/>
<inertia ixx="0.014124479" ixy="0.000002919" ixz="-0.000004851"
iyy="0.014470094" iyz="0.000261898" izz="0.000478899"/>
<mass value="0.885"/>
<inertia ixx="0.013089177" ixy="0.000002705" ixz="-0.000004495"
iyy="0.013409459" iyz="0.000242701" izz="0.000443796"/>
</inertial>
<visual>
<geometry>
@@ -263,20 +263,20 @@
<link name="hr_wheel">
<inertial>
<origin xyz="0.000002 -0.059326 -0.000009" rpy="0 0 0"/>
<origin xyz="0.000002 -0.064 -0.000009" rpy="0 0 0"/>
<mass value="1.340"/>
<inertia ixx="0.003296552" ixy="0.000000144" ixz="0.000000077"
iyy="0.005826562" iyz="-0.000000424" izz="0.003296995"/>
<inertia ixx="0.004085980" ixy="0.000000178" ixz="0.000000095"
iyy="0.007221854" iyz="-0.000000526" izz="0.004086529"/>
</inertial>
<visual>
<geometry>
<mesh filename="../meshes_solenopsis_visual/hr_wheel.STL" scale="0.001 0.001 0.001"/>
<mesh filename="../meshes_solenopsis_visual/hr_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
</geometry>
</visual>
<collision>
<origin xyz="0 -0.0457795 0" rpy="1.570796326795 0 0"/>
<origin xyz="0 -0.064 0" rpy="1.570796326795 0 0"/>
<geometry>
<cylinder length="0.082959" radius="0.098804"/>
<cylinder length="0.12" radius="0.11"/>
</geometry>
</collision>
</link>