refactor(web-platform): release V0.6 精简代码

2026-08-28 14:10:16 +08:00
parent 8e3d56d619
commit f4b415c54f
2283 changed files with 208 additions and 962948 deletions
@@ -0,0 +1 @@
+<mujoco><worldbody><invalid/></worldbody></mujoco>
@@ -0,0 +1 @@
+<mujoco><asset><mesh name="missing" file="does-not-exist.stl"/></asset><worldbody><geom type="mesh" mesh="missing"/></worldbody></mujoco>
@@ -0,0 +1 @@
+<mujoco model="fixture"><include file="world.xml"/></mujoco>
@@ -0,0 +1,8 @@
+v 0 0 0
+v 1 0 0
+v 0 1 0
+v 0 0 1
+f 1 3 2
+f 1 2 4
+f 1 4 3
+f 2 3 4
@@ -0,0 +1,17 @@
+<mujoco>
+  <asset>
+    <mesh name="triangle" file="triangle.obj"/>
+    <mesh name="triangle_stl" file="triangle.stl"/>
+    <texture name="checker" type="2d" file="checker.png"/>
+    <material name="checker_mat" texture="checker"/>
+  </asset>
+  <worldbody>
+    <light pos="0 0 3"/>
+    <geom type="plane" size="2 2 .1" material="checker_mat"/>
+    <body name="triangle_body" pos="0 0 1">
+      <freejoint/>
+      <geom name="triangle_geom" type="mesh" mesh="triangle" mass="1"/>
+      <geom name="stl_geom" type="mesh" mesh="triangle_stl" pos="0 0 .1" mass=".1"/>
+    </body>
+  </worldbody>
+</mujoco>
@@ -0,0 +1,22 @@
+"""可信本地脚本示例：用 PD 控制让倒立摆保持竖直。"""
+
+NAME = "倒立摆 PD 平衡控制"
+CONTROL_HZ = 100
+
+
+def init(api):
+    return {
+        "joint": api.joint("balance_hinge"),
+        "actuator": api.actuator("balance_motor"),
+    }
+
+
+def step(ctx, state):
+    angle = ctx.qpos(state["joint"])
+    angular_velocity = ctx.qvel(state["joint"])
+    torque = -80.0 * angle - 12.0 * angular_velocity
+    ctx.set_control(state["actuator"], torque)
+
+
+def reset(state):
+    pass
@@ -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>
@@ -0,0 +1,4 @@
+<?xml version="1.0"?><COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+<asset><unit meter="1"/><up_axis>Z_UP</up_axis></asset><library_effects><effect id="fx"><profile_COMMON><technique sid="common"><lambert><diffuse><color>1 1 1 1</color></diffuse></lambert></technique></profile_COMMON></effect></library_effects><library_materials><material id="mat"><instance_effect url="#fx"/></material></library_materials>
+<library_geometries><geometry id="tetrahedron"><mesh><source id="positions"><float_array id="positions-array" count="12">0 0 0 1 0 0 0 1 0 0 0 1</float_array><technique_common><accessor source="#positions-array" count="4" stride="3"><param name="X" type="float"/><param name="Y" type="float"/><param name="Z" type="float"/></accessor></technique_common></source><vertices id="vertices"><input semantic="POSITION" source="#positions"/></vertices><triangles count="4" material="mat"><input semantic="VERTEX" source="#vertices" offset="0"/><p>0 2 1 0 1 3 0 3 2 1 2 3</p></triangles></mesh></geometry></library_geometries>
+<library_visual_scenes><visual_scene id="scene"><node id="node"><instance_geometry url="#tetrahedron"><bind_material><technique_common><instance_material symbol="mat" target="#mat"/></technique_common></bind_material></instance_geometry></node></visual_scene></library_visual_scenes><scene><instance_visual_scene url="#scene"/></scene></COLLADA>
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+<?xml version="1.0"?>
+<robot name="dae_fixture">
+  <link name="base">
+    <inertial><origin xyz="0 0 0"/><mass value="1"/><inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/></inertial>
+    <visual><geometry><mesh filename="../dae/triangle.dae"/></geometry></visual>
+    <collision><geometry><mesh filename="../dae/triangle.dae"/></geometry></collision>
+  </link>
+</robot>
@@ -0,0 +1 @@
+<robot name="fixture_robot"><link name="base"><inertial><mass value="1"/><origin xyz="0 0 0"/><inertia ixx=".1" iyy=".1" izz=".1" ixy="0" ixz="0" iyz="0"/></inertial><visual><geometry><mesh filename="triangle.obj"/></geometry></visual><collision><geometry><mesh filename="triangle.obj"/></geometry></collision></link></robot>
@@ -0,0 +1,8 @@
+v 0 0 0
+v 1 0 0
+v 0 1 0
+v 0 0 1
+f 1 3 2
+f 1 2 4
+f 1 4 3
+f 2 3 4
				`@@ -0,0 +1 @@`
				`<mujoco><worldbody><invalid/></worldbody></mujoco>`
				`@@ -0,0 +1 @@`
				`<mujoco><asset><mesh name="missing" file="does-not-exist.stl"/></asset><worldbody><geom type="mesh" mesh="missing"/></worldbody></mujoco>`
				`@@ -0,0 +1 @@`
				`<mujoco model="fixture"><include file="world.xml"/></mujoco>`
				`@@ -0,0 +1 @@`
				`<robot name="fixture_robot"><link name="base"><inertial><mass value="1"/><origin xyz="0 0 0"/><inertia ixx=".1" iyy=".1" izz=".1" ixy="0" ixz="0" iyz="0"/></inertial><visual><geometry><mesh filename="triangle.obj"/></geometry></visual><collision><geometry><mesh filename="triangle.obj"/></geometry></collision></link></robot>`