Implementing Autonomous Target Navigation in MuJoCo via the Right-Hand Rule

UpdatedMay 1, 2026

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void controller(const std::vector<double>& lidar_data, mjData *d) { double front_dist = lidar_data[0]; double right_dist = lidar_data[270]; double right_corner_dist = lidar_data[310]; double speed = 1.0; if (front_dist < 0.8) { d->ctrl[0] = -speed; d->ctrl[1] = speed; } else if (right_dist > 0.5 || right_corner_dist > 0.5) { d->ctrl[0] = speed; d->ctrl[1] = speed * 0.05; } else if (right_dist < 0.5 || right_corner_dist < 0.5) { d->ctrl[0] = speed * 0.05; d->ctrl[1] = speed; } else { d->ctrl[0] = speed; d->ctrl[1] = speed; } }

const int NUM_RAYS = 360; const double MAX_RANGE = 10.0; std::vector<double> get_lidar_data(const mjModel* m, mjData* d, int car_body_id) { mjtNum* pos = d->xpos + 3 * car_body_id; mjtNum* mat = d->xmat + 9 * car_body_id; std::vector<double> lidar_data(NUM_RAYS, MAX_RANGE); for (int i = 0; i < NUM_RAYS; i++) { double angle = (i * 2.0 * M_PI) / NUM_RAYS; mjtNum local_vec[3] = {cos(angle), sin(angle), 0.0}; mjtNum global_vec[3] = {0, 0, 0}; mju_mulMatVec(global_vec, mat, local_vec, 3, 3); int geomid = -1; mjtNum normal[3]; mjtNum dist = mj_ray(m, d, pos, global_vec, NULL, 1, car_body_id, &geomid, normal); if (dist > 0 && dist < MAX_RANGE) { lidar_data[i] = dist; } } return lidar_data; }

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