Add mujoco/experimental and move USD work there.

PiperOrigin-RevId: 740730698 Change-Id: If9c68798cda502d6d7632906a034437e2557802e
2025-03-26 05:35:54 -07:00
parent 5c955b8fe2
commit 644b42bee3
14 changed files with 2228 additions and 0 deletions
@@ -0,0 +1,15 @@
+<mujoco model="mesh test">
+  <asset>
+    <texture name="texture" file="textures/cube.png" type="2d" />
+    <material name="material_red" rgba="0.8 0 0 1" />
+    <material name="material_texture" texture="texture" />
+    <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
+  </asset>
+  <worldbody>
+    <body name="test_body">
+      <geom material="material_red" type="mesh" mesh="tetrahedron"/>
+      <geom material="material_texture" type="mesh" mesh="tetrahedron"/>
+    </body>
+  </worldbody>
+</mujoco>
+
@@ -0,0 +1,10 @@
+<mujoco model="mesh test">
+  <asset>
+    <mesh name="mesh" file="meshes/tetrahedron.obj"/>
+  </asset>
+  <worldbody>
+    <body name="test_body">
+      <geom type="mesh" mesh="mesh"/>
+    </body>
+  </worldbody>
+</mujoco>
@@ -0,0 +1,16 @@
+v 0 1 0
+v 0 0 0
+v 1 0 1
+v 1 0 -1
+vn 1 0 0
+vn -1 0 0
+vt 0.5 0.5
+vt 0 0.5
+vt 1 1
+vt 1 0
+
+f 1/1/1 4/2/1 3/3/1
+f 1/2/1 2/3/1 4/4/1
+f 1/3/2 3/4/2 2/1/2
+f 2/4/2 3/1/2 4/2/2
+