Sam Haves
fbea72d767
PiperOrigin-RevId: 781498554 Change-Id: Ib6ce5038645f6ca08638a9d316b0347dc121bc62
75 lines
2.6 KiB
Plaintext
75 lines
2.6 KiB
Plaintext
#usda 1.0
|
|
(
|
|
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>
|
|
}
|
|
}
|
|
}
|
|
|