|
|
| <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> |
|
|
