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Add texture to rotating cylinders in pulley example.

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PiperOrigin-RevId: 767260834
Change-Id: I3030be314b5b197163d75ef88a5fd99a940d9c67
This commit is contained in:
Alessio Quaglino
2025-06-04 13:15:06 -07:00
committed by Copybara-Service
parent 3eb31f56cd
commit 047df4e871
1 changed files with 8 additions and 2 deletions
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model/flex/pulley.xml
+8 -2
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@@ -22,6 +22,12 @@
<statistic center="0 -.3 1" extent="2.5"/>
<asset>
<texture name="texcyl" type="2d" builtin="checker" rgb1=".3 .3 .3" rgb2=".15 0.15 0.15"
width="512" height="512" mark="cross" markrgb=".22 .22 .22"/>
<material name="matcyl" reflectance="0.3" texture="texcyl" texrepeat="3 3" texuniform="true"/>
</asset>
<worldbody>
<flexcomp name="cable" type="circle" count="40 1 1" spacing=".15 1 1" dim="1"
radius="0.02" pos="0 0 1" rgba="1 0 0 1">
@@ -30,12 +36,12 @@
<body name="left" pos="-.7 0 1">
<joint name="expand_left" type="slide" axis="-1 0 0" range="0 2" damping="20"/>
<joint name="rotate" type="hinge" axis="0 0 1"/>
<geom type="cylinder" size=".2 .2" density="1"/>
<geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
</body>
<body name="right" pos=".7 0 1">
<joint name="expand_right" type="slide" axis="1 0 0" range="0 2" damping="20"/>
<joint type="hinge" axis="0 0 1"/>
<geom type="cylinder" size=".2 .2" density="1"/>
<geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
</body>
</worldbody>