chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add convex collision test models.

Browse Source 
PiperOrigin-RevId: 643567019
Change-Id: I233553f04ea7d67216a2440f834362965d9e8c58
This commit is contained in:
Yuval Tassa
2024-06-15 01:37:10 -07:00
committed by Copybara-Service
parent 6a532fc53e
commit 86ef1746b0
6 changed files with 785 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/testdata/collision_convex/perf/boxmesh.xml
Vendored
+45
View File
@@ -0,0 +1,45 @@
<mujoco>
<option timestep="1e-3" gravity="-1 1 -10" solver="CG" iterations="10">
<flag multiccd="enable"/>
</option>
<visual>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh name="box" scale=".025 .025 .025"
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"/>
<mesh name="wall" scale=".5 .5 .1"
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"/>
</asset>
<default>
<geom condim="1" type="mesh" solref="2e-3 1"/>
<default class="free">
<geom mesh="box"/>
</default>
<default class="wall">
<geom mesh="wall" rgba=".5 .5 .8 1"/>
</default>
</default>
<worldbody>
<light pos="1 -1 1" dir="-1 1 -1"/>
<geom class="wall"/>
<geom class="wall" pos="-.6 0 .4" euler="0 90 0"/>
<geom class="wall" pos="-.2 .6 .4" euler="90 0 0"/>
<replicate count="5" offset=".06 0 0">
<replicate count="5" offset="0 .06 0">
<replicate count="4" offset="0 0 .06">
<body pos="-.1 -.2 0.15">
<freejoint/>
<geom class="free"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>