OpenHUTB · mengdeqi12 · Sep 16, 2025 · Sep 16, 2025 · Sep 19, 2025 · Sep 21, 2025
diff --git a/src/embodied_robot/README.md b/src/embodied_robot/README.md
@@ -4,6 +4,7 @@
  # 核心库（必须安装）
  mujoco==3.3.6
  numpy==2.2.6
+ python==3.12
 
 # 间接依赖（通常自动安装，若缺失则补充）
  absl-py==2.3.1

diff --git a/src/embodied_robot/main.py b/src/embodied_robot/main.py
@@ -1,84 +0,0 @@
-import mujoco
-import time
-from mujoco import viewer
-
-
-def main():
-    # 定义简单的双轮机器人模型
-    robot_xml = """
-    <mujoco model="simple_robot">
-        <option timestep="0.01"/>
-        <worldbody>
-            <!-- 地面 -->
-            <body name="ground">
-                <geom type="plane" size="5 5 0.1" rgba="0.9 0.9 0.9 1"/>
-            </body>
-
-            <!-- 机器人主体 -->
-            <body name="base" pos="0 0 0.1">
-                <inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
-                <geom type="box" size="0.2 0.1 0.1" rgba="0.2 0.4 0.8 1"/>
-
-                <!-- 左轮 -->
-                <body name="left_wheel" pos="0 -0.15 0">
-                    <joint name="left_joint" type="hinge" axis="0 1 0"/>
-                    <geom type="cylinder" size="0.05 0.08" rgba="0.5 0.5 0.5 1"/>
-                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.01 0.01 0.01"/>
-                </body>
-
-                <!-- 右轮 -->
-                <body name="right_wheel" pos="0 0.15 0">
-                    <joint name="right_joint" type="hinge" axis="0 1 0"/>
-                    <geom type="cylinder" size="0.05 0.08" rgba="0.5 0.5 0.5 1"/>
-                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.01 0.01 0.01"/>
-                </body>
-            </body>
-        </worldbody>
-
-        <!-- 电机执行器 -->
-        <actuator>
-            <motor name="left_motor" joint="left_joint" gear="100"/>
-            <motor name="right_motor" joint="right_joint" gear="100"/>
-        </actuator>
-    </mujoco>
-    """
-
-    # 加载模型
-    model = mujoco.MjModel.from_xml_string(robot_xml)
-    data = mujoco.MjData(model)
-
-    # 初始化可视化器
-    viewer_instance = viewer.launch_passive(model, data)
-
-    # 设置直行速度（左右轮相同速度）
-    forward_speed = 1.0
-    data.ctrl[0] = forward_speed  # 左轮速度
-    data.ctrl[1] = forward_speed  # 右轮速度
-
-    # 运行仿真10秒
-    total_time = 10.0
-    steps = int(total_time / model.opt.timestep)
-
-    start_time = time.time()
-    for _ in range(steps):
-        # 执行仿真步
-        mujoco.mj_step(model, data)
-
-        # 更新可视化
-        viewer_instance.sync()
-
-        # 维持实时速率
-        elapsed = time.time() - start_time
-        expected = _ * model.opt.timestep
-        if elapsed < expected:
-            time.sleep(expected - elapsed)
-
-    print(f"仿真完成，机器人最终位置: {data.body('base').xpos}")
-    viewer_instance.close()
-
-
-if __name__ == "__main__":
-    main()
-
-
-

diff --git a/src/embodied_robot/robot_walk/MUJOCO_LOG.TXT b/src/embodied_robot/robot_walk/MUJOCO_LOG.TXT
@@ -0,0 +1,27 @@
+Mon Dec 15 09:31:10 2025
+WARNING: Nan, Inf or huge value in QVEL at DOF 6. The simulation is unstable. Time = 0.8450.
+
+Mon Dec 15 09:31:11 2025
+WARNING: Nan, Inf or huge value in QACC at DOF 15. The simulation is unstable. Time = 0.2150.
+
+Mon Dec 15 09:31:24 2025
+WARNING: Nan, Inf or huge value in QVEL at DOF 6. The simulation is unstable. Time = 5.2000.
+
+Mon Dec 15 09:31:25 2025
+WARNING: Nan, Inf or huge value in QACC at DOF 6. The simulation is unstable. Time = 0.1700.
+
+Mon Dec 15 10:46:22 2025
+WARNING: Nan, Inf or huge value in QVEL at DOF 17. The simulation is unstable. Time = 0.5050.
+
+Mon Dec 15 10:46:23 2025
+WARNING: Nan, Inf or huge value in QPOS at DOF 6. The simulation is unstable. Time = 0.1400.
+
+Mon Dec 15 13:22:44 2025
+WARNING: Nan, Inf or huge value in QVEL at DOF 6. The simulation is unstable. Time = 0.7500.
+
+Mon Dec 15 13:23:19 2025
+WARNING: Nan, Inf or huge value in QACC at DOF 6. The simulation is unstable. Time = 0.9500.
+
+Mon Dec 15 13:23:23 2025
+WARNING: Nan, Inf or huge value in QVEL at DOF 6. The simulation is unstable. Time = 0.9750.
+