File size: 1,371 Bytes
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<mujoco>
<extension>
<plugin plugin="mujoco.sdf.gear">
<instance name="gear1">
<config key="alpha" value="0"/>
</instance>
</plugin>
<plugin plugin="mujoco.sdf.gear">
<instance name="gear2">
<config key="alpha" value="15"/>
</instance>
</plugin>
</extension>
<asset>
<mesh name="gear1">
<plugin instance="gear1"/>
</mesh>
<mesh name="gear2">
<plugin instance="gear2"/>
</mesh>
</asset>
<option sdf_iterations="5" sdf_initpoints="20"/>
<default>
<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.2"/>
</default>
<statistic meansize=".1"/>
<include file="scene.xml"/>
<worldbody>
<body pos="0 0 .2">
<joint name="freewheel" type="hinge" damping="1000" axis="0 0 1"/>
<geom type="sdf" name="gear1" mesh="gear1" rgba="0.4 0.4 0.4 1">
<plugin instance="gear1"/>
</geom>
</body>
<body pos="2.85 0 .2">
<joint name="drive" type="hinge" damping=".1" axis="0 0 1"/>
<geom type="sdf" name="gear2" mesh="gear2" rgba="0.7 0.7 0.7 1">
<plugin instance="gear2"/>
</geom>
</body>
<light name="left" pos="0 0 1"/>
<light name="right" pos="1 0 1"/>
</worldbody>
<actuator>
<motor name="drive" joint="drive" ctrlrange="-1 1" gear="1500" ctrllimited="true"/>
</actuator>
</mujoco>
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