cyy/car_simulation
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增加雷达

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cyy_mac
2026-06-20 21:46:03 +08:00
parent cf94fc566b
commit 228efaa361
6 changed files with 314 additions and 32 deletions
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14
scene.xml
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@@ -22,6 +22,9 @@
<texture name="map_tex" type="2d" file="map_full.png"/>
<material name="map_mat" texture="map_tex" texrepeat="0.2 0.2" texuniform="true" reflectance="0.0"/>
<texture name="qr_tex" type="2d" file="qr_code.png"/>
<material name="qr_mat" texture="qr_tex" texrepeat="1 1" texuniform="true"/>
<texture type="skybox" builtin="gradient" rgb1="0.4 0.5 0.6" rgb2="0 0 0" width="512" height="512"/>
</asset>
@@ -54,6 +57,12 @@
material="map_mat" friction="0.6 0.1 0.1" condim="3"/>
<!-- 40cm white fence around the map -->
<!-- QR signboard: 25cm(H)×20cm(W)×1cm(D), tilted 15°, facing SW -->
<body name="signboard" pos="2.25 -0.72 0.125" euler="-0.262 0 2.242">
<geom name="board_white" type="box" size="0.10 0.005 0.125" rgba="1 1 1 1"/>
<geom name="board_qr" type="box" size="0.10 0.001 0.10" pos="0 0.006 0.025" material="qr_mat"/>
</body>
<!-- ===== Blue cone obstacles (auto-generated from cones.json) ===== -->
<!-- CONES -->
@@ -81,6 +90,11 @@
rgba="0.965 0.596 0.596 1"/>
</body>
<!-- Lidar on top of car -->
<body name="lidar" pos="0 0 0.12">
<geom name="lidar_geom" type="cylinder" size="0.02 0.015" rgba="0.2 0.2 0.2 1"/>
</body>
<!-- ===== Rear wheels (drive only, no steering) ===== -->
<body name="down_left_Link" pos="-0.0841 0.0945 0.03">
<joint name="down_left_joint" axis="0 1 0"/>