| <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> |
|
|
