56 lines
1.3 KiB
XML
56 lines
1.3 KiB
XML
|
|
<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>
|