add chinese

model/adhesion/README.md

@@ -1,9 +1,8 @@
-# Active adhesion example
+# 主动吸附示例
 
-This example model shows how to use adhesion actuators.
+本示例模型演示了如何使用吸附执行器（Adhesion Actuator）。
 
-The video below is a screen capture of a user interacting with the model:
+下方视频展示了用户与该模型进行交互的录屏：
 
 
-[![Active adhesion example model](https://img.youtube.com/vi/BcHZ5BFeTmU/0.jpg)](https://www.youtube.com/watch?v=BcHZ5BFeTmU)
-
+[![主动吸附示例模型](https://img.youtube.com/vi/BcHZ5BFeTmU/0.jpg)](https://www.youtube.com/watch?v=BcHZ5BFeTmU)

model/cube/README.md

@@ -1,7 +1,7 @@
-# Cube
+# 魔方（Cube）
 
-This model was contributed by Kevin Zakka. For details regarding its creation, see the associated [repository](https://github.com/kevinzakka/mujoco_cube).
+该模型由 Kevin Zakka 贡献。关于其创建的详细信息，请参阅相关[代码仓库](https://github.com/kevinzakka/mujoco_cube)。
 
-Click the video below to see a user interacting with the cube:
+点击下方视频查看用户与魔方交互的演示：
 
-[![3x3x3 cube example model](https://img.youtube.com/vi/ZppeDArq6AU/0.jpg)](https://www.youtube.com/watch?v=ZppeDArq6AU)
+[![3x3x3 魔方示例模型](https://img.youtube.com/vi/ZppeDArq6AU/0.jpg)](https://www.youtube.com/watch?v=ZppeDArq6AU)

model/humanoid/README.md

@@ -1,35 +1,33 @@
-# Humanoid
+# 人形机器人（Humanoid）
 
-This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
-behaviours. While several variants of it exist in the wild, this version is based on the model
-in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
+本简化人形机器人模型最初在文献 [1] 中提出，专为双足运动控制行为设计。尽管社区中存在多种变体，但此版本基于 DeepMind Control Suite [2] 中的模型构建，具备较为逼真的执行器增益。
 
-* Degrees of Freedom: 27
-* Actuators: 21
+* 自由度（Degrees of Freedom）：27
+* 执行器（Actuators）：21
 
 <p float="left">
   <img src="humanoid.png" width="400">
 </p>
 
-## Changelog
+## 更新日志
 
-* 08-10-2024: Moved tracking light from the torso to the world.
-* 20-02-2024: Sorted actuators in the same order as the joints.
-* 02-01-2024: Add more keyframes.
-* 27-11-2023: Move humanoid geoms to group 1.
-* 05-04-2023: Fix typo in texture size.
-* 20-09-2022: Use default class for left_upper_arm geom.
-* 17-09-2022: Increase offscreen render buffer resolution of the humanoid to 2560x1440.
-* 12-09-2022:
-  * Increased maximum hip flexion.
-  * Symmetrised shoulder and ankle joints.
-  * Added hamstring tendons which couple the hip and knee at large flexion values.
-  * Moved duplicated values into defaults.
-  * Added two keyframes.
-  * Improved lighting.
-  * Changed naming convention.
+* 2024-10-08：将跟踪光源从躯干移动到全局世界（world）。
+* 2024-02-20：将执行器排序调整为与关节相同的顺序。
+* 2024-01-02：添加了更多关键帧。
+* 2023-11-27：将人形机器人的几何体移动到 group 1。
+* 2023-04-05：修复纹理尺寸中的拼写错误。
+* 2022-09-20：为 left_upper_arm geom 使用 default class。
+* 2022-09-17：将人形机器人的离屏渲染缓冲区分辨率提升至 2560x1440。
+* 2022-09-12：
+  * 增大了髋关节最大屈曲角度。
+  * 使肩关节和踝关节对称化。
+  * 添加了腘绳肌肌腱（hamstring tendons），在大角度屈曲时耦合髋部和膝盖。
+  * 将重复的属性值合并到 defaults。
+  * 添加了两个关键帧。
+  * 改进了光照效果。
+  * 修改了命名规范。
 
-## References
+## 参考文献
 
 [1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization](https://doi.org/10.1109/IROS.2012.6386025).
 

model/plugin/sdf/asset/README.md

@@ -1,2 +1 @@
-The spot assets were taken from https://www.cs.cmu.edu/~kmcrane/Projects/ModelRepository/ and are
-released under the CC0 1.0 Universal (CC0 1.0) Public Domain Dedication license.
+Spot 相关的三维模型资产来源于 https://www.cs.cmu.edu/~kmcrane/Projects/ModelRepository/ ，并在 CC0 1.0 Universal (CC0 1.0) 公共领域贡献许可协议下发布。

model/replicate/README.md

@@ -1,27 +1,26 @@
-# Replicate
+# 复制元元素（Replicate）
 
-Models in this directory provide usage examples of the `<replicate>` meta-element, see
-[documentation](https://mujoco.readthedocs.io/en/stable/XMLreference.html#replicate-r).
+此目录下的模型提供了 `<replicate>` 元元素的使用示例，详见[官方文档](https://mujoco.readthedocs.io/en/stable/XMLreference.html#replicate-r)。
 
-The models contain several categories:
+这些模型涵盖以下几个类别：
 
-1. Constructing static geometries:
+1. 构建静态几何体：
    - cylinder.xml
    - bowl.xml
    - helix.xml
    - container.xml
 
-2. Replicating moving bodies:
+2. 复制运动刚体：
    - particle.xml
    - bunnies.xml
    - leaves.xml
    - stonehenge.xml
 
-3. Replicas that include tendons:
+3. 包含肌腱/绳索（Tendon）的复制：
    - newton_cradle.xml
    - tendon.xml
 
-4. Replicas with multiple referencing elements:
+4. 包含多个引用元素的复制：
    - references.xml
 
-[![Replicate showcase](https://img.youtube.com/vi/5k0_wsIRAFc/0.jpg)](https://www.youtube.com/watch?v=5k0_wsIRAFc)
+[![Replicate 展示](https://img.youtube.com/vi/5k0_wsIRAFc/0.jpg)](https://www.youtube.com/watch?v=5k0_wsIRAFc)