| |
| ( |
| 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> |
| } |
| } |
| } |
|
|
|
|
