Implement mesh extrema in a 3x3x3 grid corresponding to each feature of a unit cube. These are used as seeds for a better initial point in mesh hill climbing with up to a 2x speedup in mjc_Convex.

PiperOrigin-RevId: 959645299 Change-Id: I032ae534704e0cc440ddb7691fd21a29a359f521
2026-08-05 07:22:01 -07:00
parent 1362a8bded
commit 83e621d771
14 changed files with 2708 additions and 2 deletions
@@ -0,0 +1,18 @@
+<mujoco model="100 sphere meshes in a box">
+  <option solver="CG" iterations="10"/>
+  <asset>
+    <mesh name="sphere" file="sphere.obj" scale=".1 .1 .1"/>
+  </asset>
+  <worldbody>
+    <geom name="ground" type="plane" size=".5 .5 .01" condim="1"/>
+    <replicate count="4" euler="0 0 90">
+      <geom type="plane" size=".1 .5 .01" zaxis="1 0 0"  pos="-.5 0 .1"/>
+    </replicate>
+    <replicate count="100" offset="0 0 .5">
+      <body pos="0 0 1">
+        <freejoint/>
+        <geom type="mesh" mesh="sphere"/>
+      </body>
+    </replicate>
+  </worldbody>
+</mujoco>