From f009be7de2843cc52b4c0d4950b09e48f964f844 Mon Sep 17 00:00:00 2001
From: cyy_mac <cyy@mac.com>
Date: Sun, 14 Jun 2026 20:53:43 +0800
Subject: [PATCH] init

---
 .gitignore      |  10 ++++
 .python-version |   1 +
 README.md       |   0
 main.py         |   6 +++
 origincar.urdf  | 119 ++++++++++++++++++++++++++++++++++++++++++
 origincar.xacro | 135 ++++++++++++++++++++++++++++++++++++++++++++++++
 pyproject.toml  |   7 +++
 7 files changed, 278 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 .python-version
 create mode 100644 README.md
 create mode 100644 main.py
 create mode 100644 origincar.urdf
 create mode 100644 origincar.xacro
 create mode 100644 pyproject.toml

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..505a3b1
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,10 @@
+# Python-generated files
+__pycache__/
+*.py[oc]
+build/
+dist/
+wheels/
+*.egg-info
+
+# Virtual environments
+.venv
diff --git a/.python-version b/.python-version
new file mode 100644
index 0000000..24ee5b1
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.13
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..e69de29
diff --git a/main.py b/main.py
new file mode 100644
index 0000000..72fddb5
--- /dev/null
+++ b/main.py
@@ -0,0 +1,6 @@
+def main():
+    print("Hello from motrixsim-examples!")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/origincar.urdf b/origincar.urdf
new file mode 100644
index 0000000..12a8dd3
--- /dev/null
+++ b/origincar.urdf
@@ -0,0 +1,119 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from origincar.xacro                | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="mycar">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <box size="0.276 0.164 0.08"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.07"/>
+      <material name="rgba(102,10,10,1)">
+        <color rgba="0.4 0.0392156862745098 0.0392156862745098 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="board_link">
+    <visual>
+      <geometry>
+        <box size="0.200 0.164 0.06999999999999999"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.034999999999999996"/>
+      <material name="rgba(246,152,152,1)">
+        <color rgba="0.9647058823529412 0.596078431372549 0.596078431372549 1"/>
+      </material>
+    </visual>
+  </link>
+  <link name="camera">
+    <visual>
+      <geometry>
+        <box size="0.015 0.045 0.03"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.015"/>
+      <material name="rgba(93,78,78,1)">
+        <color rgba="0.36470588235294116 0.3058823529411765 0.3058823529411765 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="camera_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="camera"/>
+    <origin rpy="0 0 0" xyz="0.12050000000000001 0 0.11"/>
+  </joint>
+  <joint name="board_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="board_link"/>
+    <origin rpy="0 0 0" xyz="-0.038000000000000006 0 0.11"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="down_left_Link">
+    <visual>
+      <origin rpy="-1.5707963 0 0" xyz="0 0.0 0"/>
+      <geometry>
+        <cylinder length="0.025" radius="0.03"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="down_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="down_left_Link"/>
+    <origin rpy="0 0 0" xyz="-0.0841 0.0945 0.03"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="down_right_Link">
+    <visual>
+      <origin rpy="1.5707963 0 0" xyz="0 0.0 0"/>
+      <geometry>
+        <cylinder length="0.025" radius="0.03"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="down_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="down_right_Link"/>
+    <origin rpy="0 0 0" xyz="-0.0841 -0.0945 0.03"/>
+    <axis xyz="0 -1 0"/>
+  </joint>
+  <link name="up_left_Link">
+    <visual>
+      <origin rpy="-1.5707963 0 0" xyz="0 0.0 0"/>
+      <geometry>
+        <cylinder length="0.025" radius="0.03"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="up_left_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="up_left_Link"/>
+    <origin rpy="0 0 0" xyz="0.0841 0.0945 0.03"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="up_right_Link">
+    <visual>
+      <origin rpy="1.5707963 0 0" xyz="0 0.0 0"/>
+      <geometry>
+        <cylinder length="0.025" radius="0.03"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="up_right_joint" type="continuous">
+    <parent link="base_link"/>
+    <child link="up_right_Link"/>
+    <origin rpy="0 0 0" xyz="0.0841 -0.0945 0.03"/>
+    <axis xyz="0 -1 0"/>
+  </joint>
+</robot>
diff --git a/origincar.xacro b/origincar.xacro
new file mode 100644
index 0000000..0aca376
--- /dev/null
+++ b/origincar.xacro
@@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<robot name="mycar" xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:property name="PI" value="3.1415926"/>
+  <xacro:property name="Track" value="0.1682"/>
+  <xacro:property name="WheelBase" value="0.189"/>
+  <xacro:property name="WheelLen" value="0.025"/>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <box size="0.276 ${WheelBase-WheelLen} 0.08"/>
+      </geometry>
+      <origin xyz="0 0 ${0.08/2+0.03}" rpy="0 0 0"/>
+      <material name="rgba(102,10,10,1)">
+        <color rgba="${102/255} ${10/255} ${10/255} 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="board_link">
+    <visual>
+      <geometry>
+        <box size="0.200 ${WheelBase-WheelLen} ${0.150-0.08}"/>
+      </geometry>
+      <origin xyz="0 0 ${(0.150-0.08)/2}" rpy="0 0 0"/>
+      <material name="rgba(246,152,152,1)">
+        <color rgba="${246/255} ${152/255} ${152/255} 1" />
+      </material>
+    </visual>
+  </link>
+
+  <link name="camera" >
+    <visual>
+      <geometry>
+        <box size="0.015 0.045 0.03"/>
+      </geometry>
+      <origin xyz="0 0 ${(0.03)/2}" rpy="0 0 0"/>
+      <material name="rgba(93,78,78,1)">
+        <color rgba="${93/255} ${78/255} ${78/255} 1" />
+      </material>
+    </visual>
+  </link>
+
+  <joint name="camera_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="camera" />
+    <origin xyz="${(0.276-0.015)/2-0.01} 0 ${0.08+0.03}" rpy="0 0 0" /> 
+  </joint>
+  
+
+  <joint name="board_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="board_link" />
+    <origin xyz="${-(0.276-0.2)/2} 0 ${0.08+0.03}" rpy="0 0 0" /> 
+    <axis xyz="0 1 0" />
+  </joint>
+
+  <link name="down_left_Link">
+    <visual>
+      <origin xyz="0 ${-WheelLen/2+0.025/2} 0" rpy="${-PI/2} 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.025" />
+      </geometry>
+      <material name="">
+        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1" />
+      </material>
+    </visual>
+  </link>
+
+  <joint name="down_left_joint" type="continuous">
+    <parent link="base_link" />
+    <child link="down_left_Link" />
+    <origin xyz="${-Track/2} ${WheelBase/2} ${0.03}" rpy="0 0 0" /> 
+    <axis xyz="0 1 0" />
+  </joint>
+
+  <link name="down_right_Link">
+    <visual>
+      <origin xyz="0 ${WheelLen/2-0.025/2} 0" rpy="${PI/2} 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.025"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1" />
+      </material>
+    </visual>
+  </link>
+
+  <joint name="down_right_joint" type="continuous">
+    <parent link="base_link" />
+    <child link="down_right_Link" />
+    <origin xyz="${-Track/2} ${-WheelBase/2} ${0.03}" rpy="0 0 0" /> 
+    <axis xyz="0 -1 0" />
+  </joint>
+
+  <link name="up_left_Link">
+    <visual>
+      <origin xyz="0 ${-WheelLen/2+0.025/2} 0" rpy="${-PI/2} 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.025"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1" />
+      </material>
+    </visual>
+  </link>
+
+  <joint name="up_left_joint" type="continuous">
+    <parent link="base_link" />
+    <child  link="up_left_Link" />
+    <origin xyz="${Track/2} ${WheelBase/2} ${0.03}" rpy="0 0 0" /> 
+    <axis xyz="0 1 0" />
+  </joint>
+
+  <link name="up_right_Link">
+    <visual>
+      <origin xyz="0 ${WheelLen/2-0.025/2} 0" rpy="${PI/2} 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.025"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1" />
+      </material>
+    </visual>
+  </link>
+
+  <joint name="up_right_joint" type="continuous">
+    <parent link="base_link" />
+    <child link="up_right_Link" />
+    <origin xyz="${Track/2} ${-WheelBase/2} ${0.03}" rpy="0 0 0" /> 
+    <axis  xyz="0 -1 0" />
+  </joint>
+</robot>
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..c4369cb
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,7 @@
+[project]
+name = "motrixsim-examples"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.13"
+dependencies = []