mujoco

#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 "Actuators" {
      def MjcActuator "HingeActuator" {
        rel mjc:target = </World/Axle/Rod/HingeJoint>
      }
    }
}