cyy/car_simulation
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

init

Browse Source
This commit is contained in:
cyy_mac
2026-06-14 20:53:43 +08:00
commit f009be7de2
7 changed files with 278 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
.gitignore vendored Normal file
View File

@@ -0,0 +1,10 @@
# Python-generated files
__pycache__/
*.py[oc]
build/
dist/
wheels/
*.egg-info
# Virtual environments
.venv

1
.python-version Normal file
View File

@@ -0,0 +1 @@
3.13

0
README.md Normal file
View File

6
main.py Normal file
View File

@@ -0,0 +1,6 @@
def main():
print("Hello from motrixsim-examples!")
if __name__ == "__main__":
main()

119
origincar.urdf Normal file
View File

@@ -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>

135
origincar.xacro Normal file
View File

@@ -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>

7
pyproject.toml Normal file
View File

@@ -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 = []