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 +1,22 @@
+"""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>