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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/stacked_boxes.xml
Vendored
+108
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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>