/
car.xml
72 lines (66 loc) · 2.25 KB
/
car.xml
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<mujoco>
<compiler autolimits="true"/>
<asset>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<mesh name="chasis" scale=".01 .006 .0015"
vertex=" 9 2 0
-10 10 10
9 -2 0
10 3 -10
10 -3 -10
-8 10 -10
-10 -10 10
-8 -10 -10
-5 0 20"/>
</asset>
<default>
<joint damping=".03" actuatorfrcrange="-0.5 0.5"/>
<default class="wheel">
<geom type="cylinder" size=".03 .01" rgba=".5 .5 1 1"/>
</default>
<default class="decor">
<site type="box" rgba=".5 1 .5 1"/>
</default>
</default>
<worldbody>
<geom type="plane" size="3 3 .01" material="grid"/>
<body name="car" pos="0 0 .03">
<freejoint/>
<light name="top light" pos="0 0 2" mode="trackcom" diffuse=".4 .4 .4"/>
<geom name="chasis" type="mesh" mesh="chasis"/>
<geom name="front wheel" pos=".08 0 -.015" type="sphere" size=".015" condim="1" priority="1"/>
<light name="front light" pos=".1 0 .02" dir="2 0 -1" diffuse="1 1 1"/>
<body name="left wheel" pos="-.07 .06 0" zaxis="0 1 0">
<joint name="left"/>
<geom class="wheel"/>
<site class="decor" size=".006 .025 .012"/>
<site class="decor" size=".025 .006 .012"/>
</body>
<body name="right wheel" pos="-.07 -.06 0" zaxis="0 1 0">
<joint name="right"/>
<geom class="wheel"/>
<site class="decor" size=".006 .025 .012"/>
<site class="decor" size=".025 .006 .012"/>
</body>
</body>
</worldbody>
<tendon>
<fixed name="forward">
<joint joint="left" coef=".5"/>
<joint joint="right" coef=".5"/>
</fixed>
<fixed name="turn">
<joint joint="left" coef="-.5"/>
<joint joint="right" coef=".5"/>
</fixed>
</tendon>
<actuator>
<motor name="forward" tendon="forward" ctrlrange="-1 1"/>
<motor name="turn" tendon="turn" ctrlrange="-1 1"/>
</actuator>
<sensor>
<jointactuatorfrc name="right" joint="right"/>
<jointactuatorfrc name="left" joint="left"/>
</sensor>
</mujoco>