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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/user/testdata/capsule_inertia.xml
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<mujoco>
<default>
<geom size=".8 .9"/>
<!-- These are arbitrary, the capsule-related `MjCGeomTest` instances pass for any values. -->
</default>
<worldbody>
<body pos="-2 0 0" name="sphere">
<geom type="sphere"/>
</body>
<body name="cylinder">
<geom type="cylinder"/>
</body>
<body pos="2 0 0" name="capsule">
<geom type="capsule"/>
</body>
</worldbody>
</mujoco>
test/user/testdata/cube.obj
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v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000
test/user/testdata/cube.xml
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<mujoco>
<asset>
<mesh file="cube.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="cube"/>
</worldbody>
</mujoco>
test/user/testdata/duplicate.obj
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v 1 1 1
v -1 1 -1
v -1 -1 1
v 1 -1 -1
v 1 1 1
v -1 1 -1
v -1 -1 1
v 1 -1 -1
v 1 1 1
v -1 1 -1
v -1 -1 1
v 1 -1 -1
v 1 1 1
v -1 1 -1
v -1 -1 1
v 1 -1 -1
f 1 2 3
f 5 7 8
f 9 12 10
f 16 15 14
test/user/testdata/duplicate.xml
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<mujoco>
<asset>
<mesh file="duplicate.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="duplicate"/>
</worldbody>
</mujoco>
test/user/testdata/duplicate_vertices.stl
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test/user/testdata/duplicate_vertices.xml
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<mujoco>
<asset>
<mesh file="duplicate_vertices.stl"/>
</asset>
<worldbody>
<geom type="mesh" mesh="duplicate_vertices"/>
</worldbody>
</mujoco>
test/user/testdata/flipped_torus.xml
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<mujoco>
<asset>
<mesh file="torus.obj" scale="1 -1 1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="torus"/>
</worldbody>
</mujoco>
test/user/testdata/textured_torus.xml
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<mujoco>
<compiler meshdir="textured_torus" texturedir="textured_torus"/>
<asset>
<mesh name="torus" file="textured_torus.obj"/>
<mesh name="flipped_torus" file="textured_torus.obj" scale="-1 1 1"/>
<texture file="carpet.png" type="2d"/>
<material name="carpet" texture="carpet"/>
</asset>
<worldbody>
<geom type="mesh" mesh="torus" material="carpet"/>
<geom type="mesh" mesh="flipped_torus" material="carpet" pos="0 0 1"/>
</worldbody>
</mujoco>
test/user/testdata/textured_torus/carpet.png
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test/user/testdata/textured_torus/textured_torus.mtl
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#
# Wavefront material file
# Converted by Meshlab Group
#
newmtl material_0
Ka 0.200000 0.200000 0.200000
Kd 0.800000 0.800000 0.800000
Ks 1.000000 1.000000 1.000000
Tr 1.000000
illum 2
Ns 0.000000
map_Kd carpet.png
test/user/testdata/textured_torus/textured_torus.obj
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test/user/testdata/torus.obj
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test/user/testdata/torus.xml
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<mujoco>
<asset>
<mesh file="torus.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="torus"/>
</worldbody>
</mujoco>
test/user/testdata/torus_quads.obj
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test/user/testdata/torus_quads.xml
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<mujoco>
<asset>
<mesh file="torus.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="torus"/>
</worldbody>
</mujoco>