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  1. ch_circuit_analysis.png +3 -0
  2. ch_circuit_chase.gif +3 -0
  3. ch_circuit_log.csv +0 -0
  4. ch_circuit_overhead.gif +3 -0
  5. ch_qwen_oval_circuit.xml +366 -0
ch_circuit_analysis.png ADDED

Git LFS Details

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  • Pointer size: 131 Bytes
  • Size of remote file: 172 kB
ch_circuit_chase.gif ADDED

Git LFS Details

  • SHA256: d37292f001ac51fa0e8f9db6e68c177f8787f6890b1389baf91c735d012a03c2
  • Pointer size: 132 Bytes
  • Size of remote file: 2.69 MB
ch_circuit_log.csv ADDED
The diff for this file is too large to render. See raw diff
 
ch_circuit_overhead.gif ADDED

Git LFS Details

  • SHA256: a2b3525d1f2bdda5fb1f2e47884c8d6146441142344925087be186bdee4524eb
  • Pointer size: 133 Bytes
  • Size of remote file: 13.2 MB
ch_qwen_oval_circuit.xml ADDED
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+ <?xml version="1.0" ?>
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+ <mujoco model="qwen_oval_circuit">
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292
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293
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294
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295
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296
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297
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298
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299
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300
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301
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302
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303
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304
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305
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306
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307
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308
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309
+ <geom name="cw_l_16_in" type="box" size="1.5439 0.2500 0.6500" pos="-31.9448 -7.4746 0.6500" euler="0 0 4.9929" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
310
+ <geom name="cw_l_17_out" type="box" size="1.8803 0.2500 0.6500" pos="-36.4880 -12.6286 0.6500" euler="0 0 5.1051" rgba="0.85 0.3 0.2 1" contype="1" conaffinity="1"/>
311
+ <geom name="cw_l_17_in" type="box" size="1.5439 0.2500 0.6500" pos="-30.9447 -10.3325 0.6500" euler="0 0 5.1051" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
312
+ <geom name="cw_l_18_out" type="box" size="1.8803 0.2500 0.6500" pos="-34.8824 -15.9627 0.6500" euler="0 0 5.2173" rgba="0.85 0.3 0.2 1" contype="1" conaffinity="1"/>
313
+ <geom name="cw_l_18_in" type="box" size="1.5439 0.2500 0.6500" pos="-29.6310 -13.0604 0.6500" euler="0 0 5.2173" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
314
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315
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316
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317
+ <geom name="cw_l_20_in" type="box" size="1.5439 0.2500 0.6500" pos="-26.1323 -17.9914 0.6500" euler="0 0 5.4417" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
318
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319
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320
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321
+ <geom name="cw_l_22_in" type="box" size="1.5439 0.2500 0.6500" pos="-21.6241 -22.0201 0.6500" euler="0 0 5.6661" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
322
+ <geom name="cw_l_23_out" type="box" size="1.8803 0.2500 0.6500" pos="-21.9627 -28.8824 0.6500" euler="0 0 5.7783" rgba="0.85 0.3 0.2 1" contype="1" conaffinity="1"/>
323
+ <geom name="cw_l_23_in" type="box" size="1.5439 0.2500 0.6500" pos="-19.0604 -23.6310 0.6500" euler="0 0 5.7783" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
324
+ <geom name="cw_l_24_out" type="box" size="1.8803 0.2500 0.6500" pos="-18.6286 -30.4880 0.6500" euler="0 0 5.8905" rgba="0.85 0.3 0.2 1" contype="1" conaffinity="1"/>
325
+ <geom name="cw_l_24_in" type="box" size="1.5439 0.2500 0.6500" pos="-16.3325 -24.9447 0.6500" euler="0 0 5.8905" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
326
+ <geom name="cw_l_25_out" type="box" size="1.8803 0.2500 0.6500" pos="-15.1356 -31.7103 0.6500" euler="0 0 6.0027" rgba="0.85 0.3 0.2 1" contype="1" conaffinity="1"/>
327
+ <geom name="cw_l_25_in" type="box" size="1.5439 0.2500 0.6500" pos="-13.4746 -25.9448 0.6500" euler="0 0 6.0027" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
328
+ <geom name="cw_l_26_out" type="box" size="1.8803 0.2500 0.6500" pos="-11.5277 -32.5337 0.6500" euler="0 0 6.1149" rgba="0.85 0.3 0.2 1" contype="1" conaffinity="1"/>
329
+ <geom name="cw_l_26_in" type="box" size="1.5439 0.2500 0.6500" pos="-10.5227 -26.6185 0.6500" euler="0 0 6.1149" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
330
+ <geom name="cw_l_27_out" type="box" size="1.8803 0.2500 0.6500" pos="-7.8503 -32.9481 0.6500" euler="0 0 6.2271" rgba="0.85 0.3 0.2 1" contype="1" conaffinity="1"/>
331
+ <geom name="cw_l_27_in" type="box" size="1.5439 0.2500 0.6500" pos="-7.5139 -26.9575 0.6500" euler="0 0 6.2271" rgba="0.2 0.5 0.85 1" contype="1" conaffinity="1"/>
332
+ </body>
333
+ <body name="car1_chassis" pos="0.0 30.0 0.35" quat="1.0 0.0 0.0 0.0">
334
+ <freejoint name="car1_free"/>
335
+ <site name="car1_imu" pos="0 0 0.1" size="0.02"/>
336
+ <geom name="car1_body" type="box" size="0.95 0.48 0.14" pos="0 0 0" rgba="0.9 0.15 0.15 1" mass="800.0" contype="1" conaffinity="1"/>
337
+ <geom name="car1_cabin" type="box" size="0.52 0.42 0.14" pos="-0.08 0 0.28" rgba="0.9 0.15 0.15 1" mass="80.0" contype="1" conaffinity="1"/>
338
+ <geom name="car1_bumper_f" type="box" size="0.06 0.45 0.08" pos="0.98 0 -0.04" rgba="0.1 0.1 0.1 1" mass="15" contype="1" conaffinity="1"/>
339
+ <geom name="car1_bumper_r" type="box" size="0.06 0.45 0.08" pos="-0.98 0 -0.04" rgba="0.1 0.1 0.1 1" mass="15" contype="1" conaffinity="1"/>
340
+ <body name="car1_w_fl" pos="1.2 0.6 -0.050">
341
+ <joint name="car1_w_fl_s" type="hinge" axis="0 0 1" range="-0.45 0.45" damping="30"/>
342
+ <joint name="car1_w_fl_r" type="hinge" axis="0 1 0" range="-1e6 1e6" damping="0.5"/>
343
+ <geom name="car1_w_fl_tire" type="cylinder" size="0.3 0.11" euler="1.5708 0 0" rgba="0.1 0.1 0.1 1" mass="15.0" contype="1" conaffinity="1"/>
344
+ </body>
345
+ <body name="car1_w_fr" pos="1.2 -0.6 -0.050">
346
+ <joint name="car1_w_fr_s" type="hinge" axis="0 0 1" range="-0.45 0.45" damping="30"/>
347
+ <joint name="car1_w_fr_r" type="hinge" axis="0 1 0" range="-1e6 1e6" damping="0.5"/>
348
+ <geom name="car1_w_fr_tire" type="cylinder" size="0.3 0.11" euler="1.5708 0 0" rgba="0.1 0.1 0.1 1" mass="15.0" contype="1" conaffinity="1"/>
349
+ </body>
350
+ <body name="car1_w_rl" pos="-1.2 0.6 -0.050">
351
+ <joint name="car1_w_rl_r" type="hinge" axis="0 1 0" range="-1e6 1e6" damping="0.5"/>
352
+ <geom name="car1_w_rl_tire" type="cylinder" size="0.3 0.11" euler="1.5708 0 0" rgba="0.1 0.1 0.1 1" mass="15.0" contype="1" conaffinity="1"/>
353
+ </body>
354
+ <body name="car1_w_rr" pos="-1.2 -0.6 -0.050">
355
+ <joint name="car1_w_rr_r" type="hinge" axis="0 1 0" range="-1e6 1e6" damping="0.5"/>
356
+ <geom name="car1_w_rr_tire" type="cylinder" size="0.3 0.11" euler="1.5708 0 0" rgba="0.1 0.1 0.1 1" mass="15.0" contype="1" conaffinity="1"/>
357
+ </body>
358
+ </body>
359
+ </worldbody>
360
+ <actuator>
361
+ <velocity name="drv_rl" joint="car1_w_rl_r" kv="130"/>
362
+ <velocity name="drv_rr" joint="car1_w_rr_r" kv="130"/>
363
+ <position name="str_fl" joint="car1_w_fl_s" kp="5000"/>
364
+ <position name="str_fr" joint="car1_w_fr_s" kp="5000"/>
365
+ </actuator>
366
+ </mujoco>