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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
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# Virtual environments # Virtual environments
.venv .venv

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# Origincar Simulation
基于 MotrixSim 的阿克曼小车仿真，支持键盘控制和 HTTP API 局域网共享。
## 启动
```bash
uv run mxpython main.py
```
## HTTP API（端口 8765）
仿真启动后，局域网内其他设备可通过 HTTP 获取摄像头图像、IMU 数据和发送控制指令。
### GET `/image`
获取前置摄像头最新 JPEG 图像。浏览器可直接打开。
```bash
# 浏览器
http://<仿真机IP>:8765/image
# curl
curl http://192.168.1.100:8765/image -o frame.jpg
# Python
import requests
r = requests.get("http://192.168.1.100:8765/image")
with open("frame.jpg", "wb") as f:
f.write(r.content)
```
### GET `/state`
获取小车当前状态（JSON）。
```bash
curl http://192.168.1.100:8765/state
```
返回示例：
```json
{
"x": -2.0,
"y": -2.3,
"z": 0.08,
"yaw_deg": 0.0,
"speed_target": 1.0,
"speed_actual": 0.98,
"steer_target": 0.0,
"speed_amp": 1.0,
"steer_amp": 0.35
}
```
### GET `/imu`
获取 IMU 数据（含 MPU6050 噪声），JSON。
```bash
curl http://192.168.1.100:8765/imu
```
返回示例：
```json
{
"orientation": {"w": 1.0, "x": 0.0, "y": 0.0, "z": 0.0},
"angular_velocity": {"x": 0.001, "y": -0.003, "z": 0.008},
"linear_acceleration": {"x": 0.02, "y": -0.01, "z": 9.81}
}
```
噪声参数（MPU6050 级别）：
- 陀螺仪白噪声 σ = 0.01 rad/s，bias 随机游走
- 加速度计白噪声 σ = 0.05 m/s²，bias 随机游走
### POST `/cmd`
发送控制指令（JSON）。
```bash
curl -X POST http://192.168.1.100:8765/cmd \
-H "Content-Type: application/json" \
-d '{"speed": 1.0, "steer": 0.3}'
```
| 字段 | 类型 | 说明 |
|------|------|------|
| `speed` | float | 目标速度 m/s，正=前进，负=后退 |
| `steer` | float | 目标转向角 rad，正=左转，负=右转 |
**Python 客户端示例**：
```python
import time
import requests
IP = "192.168.1.100"
# 获取图像
r = requests.get(f"http://{IP}:8765/image")
with open("frame.jpg", "wb") as f:
f.write(r.content)
# 获取状态
state = requests.get(f"http://{IP}:8765/state").json()
print(f"位置: ({state['x']}, {state['y']}), 速度: {state['speed_actual']} m/s")
# 发送控制指令
requests.post(f"http://{IP}:8765/cmd", json={"speed": 1.0, "steer": 0.2})
time.sleep(2)
requests.post(f"http://{IP}:8765/cmd", json={"speed": 0.0, "steer": 0.0})
```
**ROS2 桥接示例**：
```python
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Image as RosImage
from geometry_msgs.msg import Twist
from cv_bridge import CvBridge
import requests
import numpy as np
import cv2
IP = "192.168.1.100"
class OrigincarBridge(Node):
def __init__(self):
super().__init__("origincar_bridge")
self.bridge = CvBridge()
self.pub = self.create_publisher(RosImage, "/image", 10)
self.sub = self.create_subscription(Twist, "/cmd_vel", self.cmd_cb, 10)
self.timer = self.create_timer(0.1, self.fetch_and_publish)
def fetch_and_publish(self):
r = requests.get(f"http://{IP}:8765/image", timeout=1)
if r.status_code == 200:
arr = np.frombuffer(r.content, np.uint8)
cv_img = cv2.imdecode(arr, cv2.IMREAD_COLOR)
msg = self.bridge.cv2_to_imgmsg(cv_img, "bgr8")
self.pub.publish(msg)
def cmd_cb(self, msg: Twist):
requests.post(f"http://{IP}:8765/cmd", json={
"speed": msg.linear.x,
"steer": msg.angular.z
})
rclpy.init()
node = OrigincarBridge()
rclpy.spin(node)
```
## 键盘控制
| 按键 | 方式 | 作用 |
|------|------|------|
| W/S | 按住 | 前进/后退 |
| A/D | 按住 | 左转/右转 |
| ↑/↓ | 点按 | 速度幅度 ±0.2 m/s（0~2.0） |
| ←/→ | 点按 | 转向幅度 ±0.05 rad（0~0.5） |
| Space | 点按 | 截图保存到 `captures/` |
键盘与 HTTP `/cmd` 可同时使用：按住 W/A/S/D 时键盘优先，松开后自动切回 HTTP 控制。
## 场景结构
```
scene.xml — 5m×5m 地图 + 40cm 白色围栏 + 阿克曼小车
main.py — 仿真控制 + HTTP API 服务
origincar.urdf / origincar.xacro — 小车模型（参考）
```

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import io
import json
import math
import os
import random
import threading
from collections import deque
from http.server import BaseHTTPRequestHandler, HTTPServer
import numpy as np
from PIL import Image as PILImage
from motrixsim import SceneData, load_model, run, step
from motrixsim.render import CaptureTask, Layout, RenderApp
# ── Ackermann geometry ──────────────────────────────────────────────
L = 0.1682 # wheelbase: front-rear axle distance
T = 0.189 # track width: left-right wheel distance
PORT = 8765
# ── MPU6050 noise parameters ────────────────────────────────────────
GYRO_NOISE_STD = 0.01 # rad/s
ACCEL_NOISE_STD = 0.05 # m/s²
GYRO_BIAS_WALK = 1e-5 # rad/s per step
ACCEL_BIAS_WALK = 1e-4 # m/s² per step
def ackermann_angles(steer_cmd_rad):
if abs(steer_cmd_rad) < 1e-6:
return 0.0, 0.0
R = L / math.tan(abs(steer_cmd_rad))
inner = math.atan(L / (R - T / 2))
outer = math.atan(L / (R + T / 2))
if steer_cmd_rad > 0:
return outer, inner
else:
return -inner, -outer
def quat_to_body_rotation(qw, qx, qy, qz):
"""World-frame vector → body-frame vector using quaternion."""
v = np.array
R = np.array([
[1 - 2*(qy*qy + qz*qz), 2*(qx*qy + qw*qz), 2*(qx*qz - qw*qy)],
[ 2*(qx*qy - qw*qz), 1 - 2*(qx*qx + qz*qz), 2*(qy*qz + qw*qx)],
[ 2*(qx*qz + qw*qy), 2*(qy*qz - qw*qx), 1 - 2*(qx*qx + qy*qy)],
])
return R
class MPU6050Sim:
def __init__(self):
self.gyro_bias = np.zeros(3)
self.accel_bias = np.zeros(3)
def apply(self, gyro_true, accel_true):
self.gyro_bias += np.random.normal(0, GYRO_BIAS_WALK, 3)
self.accel_bias += np.random.normal(0, ACCEL_BIAS_WALK, 3)
gyro = gyro_true + self.gyro_bias + np.random.normal(0, GYRO_NOISE_STD, 3)
accel = accel_true + self.accel_bias + np.random.normal(0, ACCEL_NOISE_STD, 3)
return gyro, accel
# ── Shared state (main ↔ HTTP thread) ──────────────────────────────
shared = {
"latest_jpg": None, # bytes
"cmd_speed": 0.0, # from POST /cmd
"cmd_steer": 0.0, # from POST /cmd
"imu_json": b"{}",
"state_json": b"{}",
"key_active": False, # True when W/A/S/D pressed
}
shared_lock = threading.Lock()
class HTTPHandler(BaseHTTPRequestHandler):
def log_message(self, format, *args):
pass # suppress logs
def _send_json(self, data):
body = json.dumps(data).encode()
self.send_response(200)
self.send_header("Content-Type", "application/json")
self.send_header("Content-Length", str(len(body)))
self.end_headers()
self.wfile.write(body)
def _send_jpg(self, jpg_bytes):
self.send_response(200)
self.send_header("Content-Type", "image/jpeg")
self.send_header("Content-Length", str(len(jpg_bytes)))
self.send_header("Cache-Control", "no-cache, no-store, must-revalidate")
self.end_headers()
self.wfile.write(jpg_bytes)
def do_GET(self):
if self.path == "/image":
with shared_lock:
jpg = shared["latest_jpg"]
if jpg:
self._send_jpg(jpg)
else:
self.send_response(204)
self.end_headers()
elif self.path == "/state":
with shared_lock:
body = shared["state_json"]
self.send_response(200)
self.send_header("Content-Type", "application/json")
self.send_header("Content-Length", str(len(body)))
self.end_headers()
self.wfile.write(body)
elif self.path == "/imu":
with shared_lock:
body = shared["imu_json"]
self.send_response(200)
self.send_header("Content-Type", "application/json")
self.send_header("Content-Length", str(len(body)))
self.end_headers()
self.wfile.write(body)
else:
self.send_response(404)
self.end_headers()
def do_POST(self):
if self.path == "/cmd":
length = int(self.headers.get("Content-Length", 0))
body = json.loads(self.rfile.read(length))
with shared_lock:
shared["cmd_speed"] = float(body.get("speed", 0))
shared["cmd_steer"] = float(body.get("steer", 0))
self.send_response(200)
self.end_headers()
else:
self.send_response(404)
self.end_headers()
def start_http_server():
server = HTTPServer(("0.0.0.0", PORT), HTTPHandler)
server.serve_forever()
# ── Main ────────────────────────────────────────────────────────────
def main(): def main():
print("Hello from motrixsim-examples!") # Start HTTP server in background thread
http_thread = threading.Thread(target=start_http_server, daemon=True)
http_thread.start()
with RenderApp() as render:
render.opt.set_left_panel_vis(True)
model = load_model("scene.xml")
cameras = model.cameras
front_cam = cameras[0]
front_cam.set_render_target("image", 1280, 960)
render.launch(model)
render.widgets.create_camera_viewport(
front_cam, layout=Layout(right=0, top=0, width=480, height=360)
)
data = SceneData(model)
init_pos = data.dof_pos.copy()
init_pos[0] = -2.0
init_pos[1] = -2.3
init_pos[5] = 0.0
init_pos[6] = 1.0
data.set_dof_pos(init_pos, model)
# Drive actuators
drive_dl = model.get_actuator("down_left_drive")
drive_dr = model.get_actuator("down_right_drive")
drive_ul = model.get_actuator("up_left_drive")
drive_ur = model.get_actuator("up_right_drive")
# Steering actuators
steer_ul = model.get_actuator("up_left_steer")
steer_ur = model.get_actuator("up_right_steer")
speed = 0.0
steer_cmd = 0.0
speed_amp = 1.0
steer_amp = 0.35
frame = 0
base_link = model.get_link("base_link")
# IMU state
imu = MPU6050Sim()
prev_vel_world = np.zeros(3)
timestep = float(model.options.timestep)
# Continuous image capture
capture_task = None
capture_tasks: deque[tuple[int, CaptureTask]] = deque()
capture_index = 0
print("=" * 50)
print("Origincar — HTTP API on port", PORT)
print(" http://<ip>:{}/image — camera JPEG".format(PORT))
print(" http://<ip>:{}/state — position & speed".format(PORT))
print(" http://<ip>:{}/imu — IMU (MPU6050 noise)".format(PORT))
print(" POST /cmd {\"speed\":1.0,\"steer\":0.3}")
print("=" * 50)
def phys_step():
nonlocal prev_vel_world
# ── P-controller ──
vel = base_link.get_linear_velocity(data)
pose = base_link.get_pose(data)
qw, qx, qy, qz = pose[3], pose[4], pose[5], pose[6]
fwd_x = 1 - 2 * (qy * qy + qz * qz)
fwd_y = 2 * (qx * qy + qw * qz)
actual_speed = vel[0] * fwd_x + vel[1] * fwd_y
error = speed - actual_speed
kp = 5.0
base_torque = max(-15.0, min(15.0, kp * error))
# ── Differential ──
if abs(steer_cmd) < 1e-6:
factor_l, factor_r = 1.0, 1.0
else:
R_turn = L / math.tan(abs(steer_cmd))
outer_f = (R_turn + T / 2) / R_turn
inner_f = (R_turn - T / 2) / R_turn
if steer_cmd > 0:
factor_l, factor_r = inner_f, outer_f
else:
factor_l, factor_r = outer_f, inner_f
tq_l = max(-15.0, min(15.0, base_torque * factor_l))
tq_r = max(-15.0, min(15.0, base_torque * factor_r))
drive_dl.set_ctrl(data, tq_l)
drive_dr.set_ctrl(data, -tq_r)
drive_ul.set_ctrl(data, tq_l)
drive_ur.set_ctrl(data, -tq_r)
steer_l, steer_r = ackermann_angles(steer_cmd)
steer_ul.set_ctrl(data, steer_l)
steer_ur.set_ctrl(data, steer_r)
step(model, data)
# ── IMU with MPU6050 noise ──
ang_vel = np.array(base_link.get_angular_velocity(data)) # world frame
vel_world = np.array(vel)
accel_world = (vel_world - prev_vel_world) / timestep
prev_vel_world = vel_world
# Rotate to body frame
R_w2b = quat_to_body_rotation(qw, qx, qy, qz)
ang_vel_body = R_w2b @ ang_vel
accel_body = R_w2b @ accel_world
gyro_n, accel_n = imu.apply(ang_vel_body, accel_body)
with shared_lock:
shared["imu_json"] = json.dumps({
"orientation": {"w": float(qw), "x": float(qx), "y": float(qy), "z": float(qz)},
"angular_velocity": {"x": float(gyro_n[0]), "y": float(gyro_n[1]), "z": float(gyro_n[2])},
"linear_acceleration": {"x": float(accel_n[0]), "y": float(accel_n[1]), "z": float(accel_n[2])},
}).encode()
def render_step():
nonlocal speed, steer_cmd, capture_index, frame, speed_amp, steer_amp
render.sync(data)
inp = render.input
frame += 1
# ── Keyboard controls (speed & steer independent) ──
if inp.is_key_just_pressed("up"):
speed_amp = min(speed_amp + 0.2, 2.0)
if inp.is_key_just_pressed("down"):
speed_amp = max(speed_amp - 0.2, 0.0)
if inp.is_key_just_pressed("left"):
steer_amp = min(steer_amp + 0.05, 0.5)
if inp.is_key_just_pressed("right"):
steer_amp = max(steer_amp - 0.05, 0.0)
speed = 0.0
if inp.is_key_pressed("w"):
speed = speed_amp
if inp.is_key_pressed("s"):
speed = -speed_amp
steer_cmd = 0.0 # always reset — returns to center when A/D released
if inp.is_key_pressed("a"):
steer_cmd = steer_amp
if inp.is_key_pressed("d"):
steer_cmd = -steer_amp
key_active = speed != 0.0 or steer_cmd != 0.0
# ── HTTP /cmd override (if keyboard not active) ──
if not key_active:
with shared_lock:
speed = shared["cmd_speed"]
steer_cmd = shared["cmd_steer"]
with shared_lock:
shared["key_active"] = key_active
# ── Continuous image capture (~30 Hz) ──
if frame % 2 == 0:
rcam = render.get_camera(0)
capture_tasks.append((capture_index, rcam.capture()))
capture_index += 1
while capture_tasks:
idx, task = capture_tasks[0]
if task.state != "pending":
capture_tasks.popleft()
try:
img = task.take_image()
if img is not None:
arr = img.pixels
if arr.shape[2] == 4:
pil = PILImage.fromarray(arr, "RGBA").convert("RGB")
else:
pil = PILImage.fromarray(arr, "RGB")
buf = io.BytesIO()
pil.save(buf, format="JPEG", quality=80)
with shared_lock:
shared["latest_jpg"] = buf.getvalue()
except Exception:
pass
else:
break
# ── Console status ──
if frame % 60 == 0:
pose = base_link.get_pose(data)
x, y, z = pose[0], pose[1], pose[2]
qw, qx, qy, qz = pose[3], pose[4], pose[5], pose[6]
yaw = math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy * qy + qz * qz))
v = base_link.get_linear_velocity(data)
actual_spd = math.hypot(v[0], v[1])
with shared_lock:
shared["state_json"] = json.dumps({
"x": round(float(x), 3), "y": round(float(y), 3), "z": round(float(z), 3),
"yaw_deg": round(math.degrees(yaw), 1),
"speed_target": round(speed, 2),
"speed_actual": round(float(actual_spd), 2),
"steer_target": round(steer_cmd, 3),
"speed_amp": round(speed_amp, 1),
"steer_amp": round(steer_amp, 3),
}).encode()
print(f"[pos] x={x:+.3f} y={y:+.3f} z={z:+.3f} | yaw={math.degrees(yaw):+.1f}° "
f"spd={speed:.1f}/{actual_spd:.2f} steer={steer_cmd:+.2f}", flush=True)
# ── Snapshot to disk ──
if inp.is_key_just_pressed("space"):
with shared_lock:
jpg = shared["latest_jpg"]
if jpg:
os.makedirs("captures", exist_ok=True)
path = f"captures/front_cam_{capture_index:04d}.jpg"
with open(path, "wb") as f:
f.write(jpg)
print(f"Captured: {path}")
run.render_loop(model.options.timestep, 60, phys_step, render_step)
if __name__ == "__main__": if __name__ == "__main__":

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5
pyproject.toml
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@@ -4,4 +4,7 @@ version = "0.1.0"
description = "Add your description here" description = "Add your description here"
readme = "README.md" readme = "README.md"
requires-python = ">=3.13" requires-python = ">=3.13"
dependencies = [] dependencies = [
"motrixsim-core",
"pillow",
]

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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>

150
uv.lock generated Normal file
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