Rover4We

A simple 4-wheeled rover with differential traction and ackerman steering for MuJoCo physics engine (MJCF model)

Files

rover4We-only.xml is only the rover, without a floor. Meant to be included (imported) in other file. rover4We-field.xml is a floor with the rover included.

rover4We-only

The model implements both ackerman steering geometry and rear differential drive.

• first one is done with equality constraints between the ghost-steer-wheel (like a steering wheel, visible over the rover) and both the front wheels (f-r-wheel and f-l-wheel).
• last one is done with a motor attached to a fixed tendon (http://www.mujoco.org/book/XMLreference.html#fixed) that is coupled with both rear wheels (r-r-wheel and r-l-wheel)

Many thanks to Emo Todorov's answer on this MuJoCo's Forum thread: http://www.mujoco.org/forum/index.php?threads/implement-differential-drive-in-mujoco.3367/#post-3620

This resource can also provide a help to this thread: http://www.mujoco.org/forum/index.php?threads/any-plan-to-release-a-simple-car-model.3751/#post-5633