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增加局域网发布消息+全图+锥桶

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cyy_mac
2026-06-14 23:26:38 +08:00
parent f009be7de2
commit 70ff8986d9
13 changed files with 1210 additions and 3 deletions
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scene.xml Normal file
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<mujoco model="origincar_scene">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.005" iterations="10" solver="PGS"/>
<statistic center="0 0 0.1" extent="3"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
<quality shadowsize="4096"/>
</visual>
<asset>
<texture name="checker_tex" type="2d" builtin="checker" width="512" height="512" mark="edge"
rgb1="0.35 0.45 0.55" rgb2="0.55 0.65 0.75" markrgb="0.15 0.15 0.15"/>
<material name="checker_mat" texture="checker_tex" texrepeat="5 5" texuniform="true" reflectance="0.05"/>
<mesh name="cone_mesh" file="cone.obj"/>
<mesh name="cone_white_mesh" file="cone_white.obj"/>
<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 type="skybox" builtin="gradient" rgb1="0.4 0.5 0.6" rgb2="0 0 0" width="512" height="512"/>
</asset>
<default>
<geom density="500"/>
<joint damping="0.5"/>
<default class="wheel">
<geom type="cylinder" size="0.03 0.0125" density="1000" condim="3"/>
<joint damping="0.2"/>
</default>
<default class="steering">
<joint axis="0 0 1" damping="2" limited="true" range="-0.6 0.6"/>
<geom type="sphere" size="0.015" density="500" contype="0" conaffinity="0" rgba="0 0 0 0"/>
</default>
<default class="cone_blue">
<geom density="300" rgba="0.0 0.0 0.5 1"/>
</default>
</default>
<worldbody>
<light name="sun" pos="0 0 5" dir="0 0 -1" directional="true" castshadow="true"
diffuse="0.8 0.8 0.8" specular="0.2 0.2 0.2"/>
<!-- Checkerboard ground (infinite) -->
<geom name="floor" type="plane" size="0 0 0.01" material="checker_mat"
friction="0.6 0.1 0.1" condim="3"/>
<!-- 5m x 5m map tile, just above the ground -->
<geom name="map_tile" type="box" size="2.5 2.5 0.002" pos="0 0 0.002"
material="map_mat" friction="0.6 0.1 0.1" condim="3"/>
<!-- 40cm white fence around the map -->
<!-- ===== Blue cone obstacles ===== -->
<!-- Square base 20x20x3cm + cone taper 20cm→2cm over 27cm, total H=30cm -->
<!-- White reflective strip at 2/3 height (z=20cm) -->
<body name="cone_1" pos=" 1.0 1.0 0.0">
<geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>
<geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>
<geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>
</body>
<body name="cone_2" pos="-1.0 0.5 0.0">
<geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>
<geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>
<geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>
</body>
<body name="cone_3" pos=" 0.0 -1.5 0.0">
<geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>
<geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>
<geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>
</body>
<body name="cone_4" pos=" 1.5 -1.0 0.0">
<geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>
<geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>
<geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>
</body>
<geom name="fence_n" type="box" size="2.5 0.02 0.2" pos="0 2.5 0.2" rgba="1 1 1 1"/>
<geom name="fence_s" type="box" size="2.5 0.02 0.2" pos="0 -2.5 0.2" rgba="1 1 1 1"/>
<geom name="fence_e" type="box" size="0.02 2.5 0.2" pos=" 2.5 0 0.2" rgba="1 1 1 1"/>
<geom name="fence_w" type="box" size="0.02 2.5 0.2" pos="-2.5 0 0.2" rgba="1 1 1 1"/>
<body name="base_link" pos="0 0 0.08">
<freejoint/>
<geom name="base_geom" type="box" size="0.138 0.082 0.04" pos="0 0 0.07"
rgba="0.4 0.039 0.039 1" contype="0" conaffinity="0"/>
<!-- Camera: look along +X, right=-Y, up=+Z -->
<camera name="front_cam" pos="0.1205 0 0.11" xyaxes="0 -1 0 0 0 1" fovy="60"/>
<body name="camera" pos="0.1205 0 0.11">
<geom name="camera_geom" type="box" size="0.0075 0.0225 0.015" pos="0 0 0.015"
rgba="0.365 0.306 0.306 1"/>
</body>
<body name="board_link" pos="-0.038 0 0.11">
<geom name="board_geom" type="box" size="0.100 0.082 0.035" pos="0 0 0.035"
rgba="0.965 0.596 0.596 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"/>
<geom class="wheel" zaxis="0 1 0" rgba="0.745 0.129 0.129 1"/>
</body>
<body name="down_right_Link" pos="-0.0841 -0.0945 0.03">
<joint name="down_right_joint" axis="0 -1 0"/>
<geom class="wheel" zaxis="0 -1 0" rgba="0.745 0.129 0.129 1"/>
</body>
<!-- ===== Front wheels (steer + drive) ===== -->
<body name="up_left_steer" pos="0.0841 0.0945 0.03">
<joint name="up_left_steer_joint" axis="0 0 1" limited="true" range="-0.6 0.6"/>
<geom class="steering"/>
<body name="up_left_Link">
<joint name="up_left_drive_joint" axis="0 1 0"/>
<geom class="wheel" zaxis="0 1 0" rgba="0.745 0.129 0.129 1"/>
</body>
</body>
<body name="up_right_steer" pos="0.0841 -0.0945 0.03">
<joint name="up_right_steer_joint" axis="0 0 1" limited="true" range="-0.6 0.6"/>
<geom class="steering"/>
<body name="up_right_Link">
<joint name="up_right_drive_joint" axis="0 -1 0"/>
<geom class="wheel" zaxis="0 -1 0" rgba="0.745 0.129 0.129 1"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<!-- Drive motors (torque) for all 4 wheels -->
<motor name="down_left_drive" joint="down_left_joint" ctrlrange="-20 20"/>
<motor name="down_right_drive" joint="down_right_joint" ctrlrange="-20 20"/>
<motor name="up_left_drive" joint="up_left_drive_joint" ctrlrange="-20 20"/>
<motor name="up_right_drive" joint="up_right_drive_joint" ctrlrange="-20 20"/>
<!-- Steering position servos (kp/kv matched to car.py pattern) -->
<position name="up_left_steer" joint="up_left_steer_joint" ctrlrange="-0.6 0.6" kp="3000" kv="300"/>
<position name="up_right_steer" joint="up_right_steer_joint" ctrlrange="-0.6 0.6" kp="3000" kv="300"/>
</actuator>
</mujoco>