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Add box-box collision to collection of collision performance benchmark models.

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Cosmetic tweaks to existing models.

PiperOrigin-RevId: 688133030
Change-Id: I8085b8288d67b75e1cbcbcac0dfa68fccc7d63ca
This commit is contained in:
Yuval Tassa
2024-10-21 07:44:50 -07:00
committed by Copybara-Service
parent 36e8845599
commit 90bc4b555d
5 changed files with 45 additions and 7 deletions
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test/engine/testdata/collision_convex/perf/box.xml
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+38
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<mujoco model="collide boxes">
<option timestep="1e-3" gravity="-1 1 -10" solver="CG" iterations="10">
<flag multiccd="enable"/>
</option>
<visual>
<scale forcewidth="0.02" contactwidth="0.05" contactheight="0.05"/>
<map force="0.01"/>
</visual>
<default>
<geom condim="1" type="box" solref="2e-3 1"/>
<default class="free">
<geom size=".025 .025 .025"/>
</default>
<default class="wall">
<geom size=".5 .5 .1" 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>
test/engine/testdata/collision_convex/perf/boxmesh.xml
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+3 -3
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@@ -1,11 +1,11 @@
<mujoco>
<mujoco model="collide box-shaped meshes">
<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"/>
<scale forcewidth="0.02" contactwidth="0.05" contactheight="0.05"/>
<map force="0.01"/>
</visual>
<asset>
test/engine/testdata/collision_convex/perf/ellipsoid.xml
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+2 -2
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@@ -1,9 +1,9 @@
<mujoco model="Container">
<mujoco model="collide ellipsoids">
<statistic extent="1.5" meansize=".05"/>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<map shadowscale="0.5" zfar="40"/>
<map shadowscale="0.5" zfar="40" force="0.01"/>
</visual>
<asset>
test/engine/testdata/collision_convex/perf/mixed.xml
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+1 -1
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@@ -3,7 +3,7 @@
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<map shadowscale="0.5" zfar="40"/>
<map shadowscale="0.5" zfar="40" force="0.01"/>
</visual>
<asset>
test/engine/testdata/collision_convex/perf/spheremesh.xml
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+1 -1
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@@ -1,4 +1,4 @@
<mujoco model="Container">
<mujoco model="Collide spherical meshes">
<statistic extent="1.5" meansize=".05"/>
<visual>