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