Example for crank-slider mechanism. The design drawings are as follows:
The entire process of setting up the visual editor is in this video link: https://youtu.be/-RDrQrHTKYk
We will build a new one:
Operation Reference Video. The mjcf file we obtained is as follows:
Last updated
uv run robola serve ./crank_slider/crank_slider.xml --new<?xml version='1.0' encoding='utf-8'?>
<mujoco model="scene">
<!--robola compile-->
<compiler angle="radian" meshdir="assets/" texturedir="textures/" />
<visual>
<global azimuth="220" elevation="-10" />
<quality shadowsize="8192" />
<headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
</visual>
<statistic meansize="0.05" extent="0.8" center="0.15 0.1 0.38" />
<asset>
<texture type="skybox" colorspace="auto" name="texture_0_" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
</asset>
<worldbody>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<light name="light_0_" pos="0 0 2" dir="0 0 -1" intensity="15" diffuse="0.5 0.5 0.5" />
<body name="base_body" pos="0 0 0.6">
<joint name="rotate_joint" pos="0 0 0" axis="0 1 0" limited="false" actuatorfrclimited="false" />
<geom name="link_a_geom" size="0.01 0.269258" pos="0.1 0 0.25" quat="0.189108 0 -0.981956 0" type="cylinder" />
<site name="link_a_site" pos="0.2 0 0.5" size="0.01" rgba="0.94902 0.00784314 0.00784314 1" />
</body>
<body name="slide_body" pos="1.2 0 0.6">
<joint name="slide_joint" pos="0 0 0" axis="1 0 0" type="slide" limited="false" actuatorfrclimited="false" />
<geom name="slide_geom" size="0.05 0.01 0.05" pos="0 -0.0183855 0" type="box" />
<body name="link_b_body">
<joint name="link_b_joint" pos="0 0 0" axis="0 1 0" limited="false" actuatorfrclimited="false" />
<geom name="link_b_geom" size="0.01 0.559017" pos="-0.5 0 0.25" quat="0.525731 0 0.850651 0" type="cylinder" />
<site name="link_b_site" pos="-1 0 0.5" size="0.01" rgba="0.0313726 0.976471 0.0313726 1" />
</body>
</body>
</worldbody>
<contact>
<exclude name="new_exclude" body1="base_body" body2="link_b_body" />
</contact>
<equality>
<connect name="connect" site1="link_a_site" site2="link_b_site" />
</equality>
<actuator>
<general name="new_actuator" joint="rotate_joint" ctrllimited="false" forcelimited="false" actlimited="false" />
</actuator>
</mujoco>