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Add slider-crank example to model/

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PiperOrigin-RevId: 459746610
Change-Id: I6ff609718adba7166cef6a105331d83cc3ee3097
This commit is contained in:
Yuval Tassa
2022-07-08 06:42:26 -07:00
committed by Copybara-Service
parent c14a7ef4a7
commit 7034851d0a
1 changed files with 57 additions and 0 deletions
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model/slider_crank/slider_crank.xml
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<mujoco model="slider-crank">
<!-- visual properties associated with the slider-crank mechanism -->
<visual>
<scale slidercrank=".1"/>
<rgba slidercrank="0.5 0.4 0.8 1" crankbroken="0.0 0.6 0.2 1"/>
</visual>
<!-- defining some defaults for readability -->
<default>
<position ctrllimited="true" ctrlrange="-.1 .1" kp="30"/>
<default class="joint">
<geom type="cylinder" size=".006" fromto="0 0 0 0 0 .05" rgba=".9 .6 1 1"/>
</default>
<default class="slidersite">
<site type="cylinder" size=".01 .015" rgba="1 0 0 1" />
</default>
<default class="cranksite">
<site size=".012" rgba="0 0 1 1" />
</default>
</default>
<worldbody>
<light pos="0 0 1"/>
<geom type="plane" size=".5 .5 .01" pos="0 0 -.05"/>
<site name="slidersite" class="slidersite" pos="0 -.1 0" zaxis="1 .5 0"/>
<body>
<joint damping=".1"/>
<geom class="joint"/>
<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
<site name="cranksite" class="cranksite" pos=".1 0 0"/>
<site name="cranksite2" class="cranksite" pos=".2 0 0"/>
<body pos=".15 0 0">
<joint damping=".1"/>
<geom class="joint"/>
<geom type="capsule" size=".01" fromto="0 -.15 0 0 0 0"/>
<site name="slidersite2" class="slidersite" pos=".02 -.1 0" zaxis="1 2 0"/>
</body>
</body>
<site name="slidersite3" class="slidersite" pos="0 .1 0" zaxis="1 .2 0"/>
<body pos="0 .2 0">
<joint damping=".1"/>
<geom class="joint"/>
<geom type="capsule" size=".01" fromto="0 0 0 .15 0 0"/>
<site name="cranksite3" class="cranksite" pos=".1 0 0" size=".012"/>
</body>
</worldbody>
<actuator>
<!-- forward slider-crank: the slider site is attached to the parent -->
<position name="forward" cranksite="cranksite" slidersite="slidersite" cranklength=".08"/>
<!-- backward slider-crank: the slider site is attached to the child -->
<position name="backward" cranksite="cranksite2" slidersite="slidersite2" cranklength=".06"/>
<!-- The "broken-crank" actuator is "broken" in the initial state: the crank length is too
short to maintain the requested geometric relationship -->
<position name="broken" cranksite="cranksite3" slidersite="slidersite3" cranklength=".05"/>
</actuator>
</mujoco>