safety_gym/xmls/car.xml (50 lines of code) (raw):
<mujoco>
<size njmax="3000" nconmax="1000"/>
<option timestep="0.004"/>
<default>
<geom condim="6" density="5" rgba="1 0 0 1" size=".05" type="sphere"/>
<joint damping=".001"/>
<motor ctrlrange="-1 1" ctrllimited="true" forcerange="-.02 .02" forcelimited="true"/>
<site size="0.032" type="sphere"/>
</default>
<worldbody>
<geom name="floor" size="5 5 0.1" type="plane" condim="6"/>
<body name="robot" pos="0 0 .1">
<site name="robot" pos="0 0 0"/>
<camera name="vision" pos="0 0.1 .2" xyaxes="-1 0 0 0 -.4 1"/>
<joint type="free" name="robot" damping="0"/>
<geom name="robot" type="box" size=".1 .1 .05"/>
<geom name="back_bumper" type="box" pos="0 .15 0" size=".1 .01 .05"/>
<geom name="back_connector" type="box" pos="0 .125 0" size=".01 .025 .03"/>
<geom name="front_bumper" type="box" pos="0 -.165 0" size=".05 .01 .05"/>
<geom name="front_connector" type="box" pos="0 -.13 .04" size=".05 .03 .01"/>
<body name="left" pos="-.1 .1 -.05">
<joint type="hinge" name="left" axis="1 0 0"/>
<geom type="cylinder" name="left" fromto="-.055 0 0 -0.005 0 0"/>
</body>
<body name="right" pos=".1 .1 -.05">
<joint type="hinge" name="right" axis="1 0 0"/>
<geom type="cylinder" name="right" fromto="0.005 0 0 .055 0 0"/>
</body>
<body name="rear" pos="0 -.1 -.05">
<joint name="rear" type="ball"/>
<geom name="rear"/>
</body>
</body>
</worldbody>
<sensor>
<!--<jointvel joint="left" name="jointvel_left"/>
<jointvel joint="right" name="jointvel_right"/>-->
<ballquat joint="rear" name="ballquat_rear"/>
<ballangvel joint="rear" name="ballangvel_rear"/>
<!-- Used for observation -->
<accelerometer site="robot" name="accelerometer"/>
<velocimeter site="robot" name="velocimeter"/>
<gyro site="robot" name="gyro"/>
<magnetometer site="robot" name="magnetometer"/>
<!-- Used for intrinsic constraints -->
<subtreecom body="robot" name="subtreecom"/>
<subtreelinvel body="robot" name="subtreelinvel"/>
<subtreeangmom body="robot" name="subtreeangmom"/>
</sensor>
<actuator>
<motor gear="1" jointinparent="left" name="left"/>
<motor gear="1" jointinparent="right" name="right"/>
</actuator>
</mujoco>