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

- 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
2026-11-02 16:36:38 +08:00
parent ee8963cf4c
commit 9eab8830a4
14 changed files with 1016 additions and 109 deletions
@@ -16,7 +16,7 @@ from eval_kit.core.schema import RobotProfile

 SOLENOPSIS = RobotProfile(
    name="solenopsis",
-    # None = 运行时从仿真资产读真实质量（Solenopsis.urdf 当前为 26.581 kg）。
+    # None = 运行时从仿真资产读真实质量（Solenopsis.urdf 当前为 24.74 kg）。
    # 旧 eval.py 的命令行默认值是 25.482，那是更早的 M20 简化模型名义质量，
    # 会让 COT 偏低约 4%。
    mass_kg=None,