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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/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>