feat(web-platform): release V0.4 balance control

2026-08-24 14:45:52 +08:00
parent dc494f7a2d
commit c12e52f843
19 changed files with 625 additions and 25 deletions
@@ -0,0 +1,13 @@
+<mujoco model="python_balance">
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <worldbody>
+    <geom type="plane" size="3 3 .1"/>
+    <body name="pendulum" pos="0 0 0.08">
+      <joint name="balance_hinge" type="hinge" axis="0 1 0" range="-1.4 1.4" damping="0.05"/>
+      <geom name="rod" type="capsule" fromto="0 0 0 0 0 1" size="0.05" mass="1" rgba="0.2 0.55 0.95 1"/>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor name="balance_motor" joint="balance_hinge" ctrlrange="-100 100"/>
+  </actuator>
+</mujoco>