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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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+9
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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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+14
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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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+26
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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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+49
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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>