File size: 2,671 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 | #usda 1.0
(
endTimeCode = 1
framesPerSecond = 24
metersPerUnit = 1
startTimeCode = 1
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Xform "Axle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI"]
)
{
matrix4d xformOp:transform:set_initial_pos = ( (1, 0, 0, 0), (0, 0.9999197811020019, -0.012666150201413267, 0), (0, 0.012666150201413267, 0.9999197811020019, 0), (0, 0.012296309694647789, 0.970723032951355, 1) )
uniform token[] xformOpOrder = ["xformOp:transform:set_initial_pos"]
def Xform "Rod" (
prepend apiSchemas = ["PhysicsRigidBodyAPI"]
)
{
matrix4d xformOp:transform:set_initial_rod_pos = ( (1, 0, 0, 0), (0, 0.3255001489278845, 0.9455419890453967, 0), (0, -0.9455419890453967, 0.3255001489278845, 0), (0, 0.47277099452269833, -0.1627500744639423, 1) )
uniform token[] xformOpOrder = ["xformOp:transform:set_initial_rod_pos"]
def Cylinder "Geometry" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
)
{
token axis = "Z"
float3[] extent = [(-0.01, -0.01, -0.5), (0.01, 0.01, 0.5)]
double height = 1
double radius = 0.01
matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, -0.03546595561524429, 1) )
uniform token[] xformOpOrder = ["xformOp:transform"]
}
def PhysicsRevoluteJoint "HingeJoint" {
rel physics:body0 = </World/Axle>
rel physics:body1 = </World/Axle/Rod>
point3f physics:localPos0 = (0, 0, 0)
point3f physics:localPos1 = (0, 0, 0.5)
quatf physics:localRot0 = (0, 1, 0, 0)
quatf physics:localRot1 = (0, 1, 0, 0)
}
}
def Cylinder "Geometry" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
)
{
token axis = "Z"
float3[] extent = [(-0.01, -0.01, -0.1), (0.01, 0.01, 0.1)]
double height = 0.2
double radius = 0.01
matrix4d xformOp:transform = ( (0, 0, -1, 0), (0, 1, -0, 0), (1, 0, -0, 0), (0, 0, -0, 1) )
uniform token[] xformOpOrder = ["xformOp:transform"]
}
def PhysicsFixedJoint "FixedJoint"
{
rel physics:body0 = None
rel physics:body1 = </World/Axle>
}
}
def Scope "Transmissions" {
def MjcTransmission "HingeActuator" {
rel mjc:target = </World/Axle/Rod/HingeJoint>
}
}
}
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