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Initial open sourcing of MuJoCo.

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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
2022-05-23 01:08:10 -07:00
committed by Copybara-Service
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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test/engine/testdata/collision_convex/capsule_mesh.xml
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<mujoco>
<option>
<flag multiccd="enable"/>
</option>
<visual>
<quality shadowsize="8192"/>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
scale="1 1 .3"/>
</asset>
<worldbody>
<light pos="0 0 1"/>
<geom type="mesh" mesh="box" pos="0 0 -.3"/>
<body pos="0 0 .02" euler="90 40 0">
<freejoint/>
<geom type="capsule" size=".03 .1"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/cylinder_box.xml
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<mujoco>
<option>
<flag multiccd="enable"/>
</option>
<visual>
<quality shadowsize="8192"/>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<worldbody>
<light pos="0 0 1"/>
<geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".5 .5 .5 .5"/>
<body pos="0 0 .02">
<freejoint/>
<geom type="cylinder" size=".4 .03"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/frameless_contact.xml
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<mujoco model="frameless contact">
<worldbody>
<geom type="box" pos="0.0 0.0 -0.46" size="0.4 0.4 0.46"/>
<body>
<joint type="slide" axis="1 0 0"/>
<geom pos="0.2 0 0.02" size="0.062 0.02" type="cylinder"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/frameless_contact_hfield.xml
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<mujoco model="frameless contact">
<asset>
<hfield name="hf" nrow="10" ncol="10" size="1 1 0.1 0.01"/>
</asset>
<worldbody>
<geom type="hfield" hfield="hf"/>
<body>
<joint type="slide" axis="1 0 0" damping="1"/>
<joint type="slide" axis="0 1 0" damping="1"/>
<geom pos="0 0 0.2" size="0.3 0.3 0.2" type="box"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/long_box.xml
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<mujoco>
<option>
<flag multiccd="enable"/>
</option>
<visual>
<quality shadowsize="8192"/>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh name="long_box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
scale=".6 .03 .03"/>
</asset>
<worldbody>
<light pos="0 0 1"/>
<geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".5 .5 .5 .5"/>
<body pos="0 0 .02" euler="0 0 40">
<freejoint/>
<geom type="mesh" mesh="long_box"/>
<!-- <geom type="box" size=".6 .03 .03"/> -->
</body>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/multiple_objects.xml
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<mujoco>
<option noslip_iterations="2">
<flag multiccd="enable"/>
</option>
<visual>
<quality shadowsize="8192"/>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<default>
<geom solref=".006 1"/>
</default>
<asset>
<texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
width="256" height="256" mark="random" markrgb="1 1 1" random="0.003"/>
<mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
scale="1 1 .1"/>
<mesh name="boxoid" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 .5 -1 -1 2"
scale=".3 .2 .1"/>
<mesh name="pentaprism" vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0
1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1"
scale=".2 .2 .1"/>
</asset>
<worldbody>
<light pos="0 0 3"/>
<light pos="2 2 2" dir="-1 -1 -1"/>
<geom type="plane" pos="0 0 -.5" size="3 3 .01"/>
<geom type="mesh" mesh="box" pos="0 0 -.15" euler="3 7 30"/>
<body pos="-.3 -.3 .3">
<freejoint/>
<geom type="mesh" mesh="boxoid" rgba=".8 0 0 1" euler="3 5 -130"/>
</body>
<body pos=".3 .3 0.3">
<freejoint/>
<geom type="box" euler="3 5 -80" size=".3 .2 .1" rgba="0 .8 0 1"/>
</body>
<body pos=".3 .3 .6">
<freejoint/>
<geom type="mesh" mesh="pentaprism" rgba="0 0 .8 1"/>
</body>
<body pos=".6 -.3 .3">
<freejoint/>
<geom type="cylinder" size=".2 .05" rgba=".6 0 .6 1"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/stacked_boxes.xml
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<mujoco>
<option gravity="-4 4 -10">
<flag multiccd="enable"/>
</option>
<visual>
<quality shadowsize="8192"/>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<size njmax="3000" nconmax="1000"/>
<asset>
<mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
scale=".05 .05 .05"/>
</asset>
<default>
<geom friction="0.4"/>
<default class="mesh_box">
<geom type="mesh" mesh="box"/>
</default>
<default class="primitive_box">
<geom type="box" size=".05 .05 .05" friction=".1"/>
</default>
</default>
<worldbody>
<light pos="1 -1 1" dir="-1 1 -1"/>
<geom type="box" size=".5 .5 .1" pos="-.4 .4 -.1" rgba=".5 .5 .8 1"/>
<geom type="box" size=".5 .1 .5" pos="-.4 .8 .4" rgba=".5 .5 .8 1"/>
<geom type="box" size=".1 .5 .5" pos="-.8 .4 .4" rgba=".5 .5 .8 1"/>
<body pos="-.4 .4 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.5 .4 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.6 .4 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.4 .5 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.5 .5 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.6 .5 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.4 .6 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.5 .6 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.6 .6 .1">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.4 .4 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.5 .4 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.6 .4 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.4 .5 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.5 .5 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.6 .5 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.4 .6 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.5 .6 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
<body pos="-.6 .6 .2">
<freejoint/>
<geom class="mesh_box"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/collisions.xml
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<mujoco model="collisions">
<worldbody>
<body name="box">
<geom name="box" type="box" size="1 1 1"/>
</body>
<body pos="1.2 1.2 0.0">
<!-- collides with box -->
<joint/>
<geom name="sphere_collides" type="sphere" size="1"/>
</body>
<body pos="-0.9 -0.9 0.0">
<!-- collides with box, and is a predefined pair -->
<joint/>
<geom name="sphere_predefined" type="sphere" size="0.1"/>
</body>
<body pos="1.8 -1.8 0.0" >
<!-- doesn't collide with box, but requires narrowphase checking -->
<joint/>
<geom name="sphere_narrowphase" type="sphere" size="1"/>
</body>
<body pos="-2.1 -2.1 0.0">
<!-- doesn't collide with box, and can be eliminated in broadphase -->
<joint/>
<geom name="sphere_broadphase" type="sphere" size="1"/>
</body>
<body name="sphere_excluded">
<!-- collides with box, but is excluded -->
<joint/>
<geom name="sphere_excluded" type="sphere" pos="0.0 0.0 0.0" size="0.2"/>
</body>
</worldbody>
<contact>
<exclude body1="box" body2="sphere_excluded"/>
<pair geom1="box" geom2="sphere_predefined"/>
</contact>
</mujoco>
test/engine/testdata/core_smooth/rne_post/connect/force_free.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
body2 is held by body1 through the connect constraint, so the force sensor on body1
should register -2*gravity (for the weight of both bodies).
-->
<option gravity="1 2 3"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom density="1000" size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1">
<geom/>
<site name="sensor"/>
</body>
<body name="body2" pos="1 2 3">
<joint type="free"/>
<geom/>
</body>
</worldbody>
<equality>
<connect body1="body1" body2="body2" anchor="0 0 0"/>
</equality>
<sensor>
<force site="sensor" user="-2 -4 -6"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/connect/force_slide.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
body2 is held by body1 through the connect constraint, so the force sensor on body1
should register 20 (for the weight of both bodies).
-->
<option gravity="0 0 -1"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1">
<geom/>
<site name="sensor"/>
</body>
<body name="body2" pos="0 0 -0.1">
<joint type="slide" axis="0 0 1"/>
<geom/>
</body>
</worldbody>
<equality>
<connect body1="body1" body2="body2" anchor="0 0 0"/>
</equality>
<sensor>
<force site="sensor" user="0 0 2"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/connect/force_slide_rotated.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
body2 is held by body1 through the connect constraint, so the force sensor on body1
should register 20 (for the weight of both bodies), rotated into the y-z plane.
-->
<option gravity="0 0 -1"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1" euler="0 45 0">
<geom/>
<site name="sensor" euler="0 0 90"/>
</body>
<body name="body2" pos="0 0 -0.2">
<joint type="slide" axis="0 0 1"/>
<geom/>
</body>
</worldbody>
<equality>
<connect body1="body1" body2="body2" anchor="0 0 0"/>
</equality>
<sensor>
<force site="sensor" user="0 1.41421356237 1.41421356237"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/connect/multiple_constraints.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
Same as force_free.xml, but with a distractor constraint.
-->
<option gravity="1 2 3"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body0" pos="-3 0 ">
<joint name="joint0" type="slide" axis="0 0 1"/>
<geom/>
</body>
<body name="body1">
<geom/>
<site name="sensor"/>
</body>
<body name="body2" pos="1 2 3">
<joint type="free"/>
<geom/>
</body>
<body name="body3" pos="3 0 0">
<geom/>
<body name="body3b" pos="3 0 -1">
<joint type="slide" axis="0 0 1" frictionloss="9"/>
<geom/>
</body>
</body>
<body name="body4" pos="4 0 0">
<joint type="free"/>
<geom/>
</body>
</worldbody>
<equality>
<joint joint1="joint0"/>
<weld body1="body3" body2="body4"/>
<connect body1="body1" body2="body2" anchor="0 0 0"/>
</equality>
<sensor>
<force site="sensor" user="-2 -4 -6"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/connect/torque_free.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
body2 is free, but because it's offset on y it wants to rotate about x due to gravity on z. The
connect prevents that, so the torque sensor should record the weight*offset of the second body.
-->
<option gravity="0 0 -1"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1">
<geom/>
<site name="sensor"/>
</body>
<body name="body2" pos="0 2 0">
<freejoint/>
<geom/>
</body>
</worldbody>
<equality>
<connect body1="body1" body2="body2" anchor="0 2 0"/>
</equality>
<sensor>
<torque site="sensor" user="2 0 0"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/weld/force_free.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
body2 is held by body1 through the weld constraint, so the force sensor on body1
should register -2*gravity (for the weight of both bodies).
-->
<option gravity="0 0 -1"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1">
<geom/>
<site name="sensor"/>
</body>
<body name="body2" pos="0 0 -.1">
<joint type="free"/>
<geom/>
</body>
</worldbody>
<equality>
<weld body1="body1" body2="body2"/>
</equality>
<sensor>
<force site="sensor" user="0 0 2"/>
<torque site="sensor" user="0 0 0"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/weld/force_free_rotated.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
body2 is held by body1 through the weld constraint, so the force sensor on body1
should register -2*gravity (for the weight of both bodies).
-->
<option gravity="0 0 -1"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1" euler="0 45 0">
<geom/>
<site name="sensor" euler="0 0 90"/>
</body>
<body name="body2" pos="0 0 -.2" euler="30 30 30">
<joint type="free"/>
<geom/>
</body>
</worldbody>
<equality>
<weld body1="body1" body2="body2"/>
</equality>
<sensor>
<force site="sensor" user="0 1.41421356237 1.41421356237"/>
<torque site="sensor" user="0 0 0"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/weld/force_torque_free.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
the force sensor on body1 should register 2N (for the weight of both bodies).
body2 is welded to body1 at an offset of 1m, so the torque sensor should register 1Nm.
-->
<option gravity="0 0 -1"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1">
<geom/>
<site name="sensor"/>
</body>
<body name="body2" pos="0 1 0">
<joint type="free"/>
<geom/>
</body>
</worldbody>
<equality>
<weld body1="body1" body2="body2"/>
</equality>
<sensor>
<force site="sensor" user="0 0 2"/>
<torque site="sensor" user="1 0 0"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
The force sensor on body1 should register 2 (for the weight of both bodies).
body2 is welded to body1 at an offset of 1, so the torque sensor should register 1.
-->
<option gravity="0 0 -1"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1" euler="0 45 0">
<geom/>
<site name="sensor" euler="0 0 90"/>
</body>
<body name="body2" pos="0 1 0" euler="30 30 30">
<joint type="free"/>
<geom/>
</body>
</worldbody>
<equality>
<weld body1="body1" body2="body2"/>
</equality>
<sensor>
<force site="sensor" user="0 1.41421356237 1.41421356237"/>
<torque site="sensor" user="0 -0.70710678118 0.70710678118"/>
</sensor>
</mujoco>
test/engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated_tendon.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<!--
the force sensor on body1 should register 2N (for the weight of both bodies).
body2 is welded to body1 at an offset of 1m, so the torque sensor should register 1Nm.
-->
<option gravity="0 0 -1"/>
<default>
<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
<geom size="0.05 0.05 0.05" type="box"/>
</default>
<worldbody>
<body name="body1" euler="0 45 0">
<geom/>
<site name="sensor" euler="0 0 90"/>
</body>
<body name="body2" pos="0 1 0" euler="30 30 30">
<joint type="free"/>
<geom/>
</body>
</worldbody>
<equality>
<weld body1="body1" body2="body2"/>
</equality>
<sensor>
<force site="sensor" user="0 1.41421356237 1.41421356237"/>
<torque site="sensor" user="0 -0.70710678118 0.70710678118"/>
</sensor>
</mujoco>