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Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.

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Closes #2
Closes #42
Closes #59

PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
This commit is contained in:
Saran Tunyasuvunakool
2021-12-16 14:36:53 +00:00
parent 4bf5630558
commit a499b38120
49 changed files with 6055 additions and 5712 deletions
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model/composite/cloth.xml
+13 -14
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@@ -14,23 +14,22 @@
-->
<mujoco model="Cloth">
<include file="scene.xml"/>
<include file="scene.xml"/>
<option timestep="0.002" solver="CG" tolerance="1e-6"/>
<option timestep="0.002" solver="CG" tolerance="1e-6"/>
<size nconmax="300" njmax="1000" nstack="1000000"/>
<size nconmax="300" njmax="1000" nstack="1000000"/>
<worldbody>
<worldbody>
<body name="B3_5" pos="0 0 1">
<freejoint/>
<composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
<joint kind="main" damping="0.001"/>
<skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
<geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
</composite>
</body>
<body name="B3_5" pos="0 0 1">
<freejoint/>
<composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
<joint kind="main" damping="0.001"/>
<skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
<geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</worldbody>
</mujoco>
model/composite/grid1.xml
-29
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@@ -1,29 +0,0 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="1D grid">
<include file="scene.xml"/>
<size nconmax="50" njmax="300" nstack="50000"/>
<worldbody>
<composite type="grid" count="20 1 1" spacing="0.045" offset="0 0 1">
<joint kind="main" damping="0.001"/>
<tendon kind="main" width="0.01"/>
<geom size=".02" rgba=".8 .2 .1 1"/>
</composite>
</worldbody>
</mujoco>
model/composite/grid1pin.xml
-31
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@@ -1,31 +0,0 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="1D grid with pins">
<include file="scene.xml"/>
<size nconmax="50" njmax="300" nstack="50000"/>
<worldbody>
<composite type="grid" count="20 1 1" spacing="0.045" offset="0 0 1">
<joint kind="main" damping="0.001"/>
<tendon kind="main" width="0.01"/>
<pin coord="1"/>
<pin coord="13"/>
<geom size=".02" rgba=".8 .2 .1 1"/>
</composite>
</worldbody>
</mujoco>
model/composite/grid2.xml
-28
View File
@@ -1,28 +0,0 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="2D grid">
<include file="scene.xml"/>
<size nconmax="300" njmax="1000" nstack="1000000"/>
<worldbody>
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
<skin material="matcarpet" inflate="0.001" subgrid="3" texcoord="true"/>
<geom size=".02"/>
</composite>
</worldbody>
</mujoco>
model/composite/grid2pin.xml
+10 -11
View File
@@ -14,17 +14,16 @@
-->
<mujoco model="2D grid with pins">
<include file="scene.xml"/>
<include file="scene.xml"/>
<size nconmax="200" njmax="1000" nstack="1000000"/>
<size nconmax="200" njmax="1000" nstack="1000000"/>
<worldbody>
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
<skin rgba=".6 .1 .6 1" inflate="0.001" subgrid="3"/>
<pin coord="0 0"/>
<pin coord="8 0"/>
<geom size=".02"/>
</composite>
</worldbody>
<worldbody>
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
<skin rgba=".6 .1 .6 1" inflate="0.001" subgrid="3"/>
<pin coord="0 0"/>
<pin coord="8 0"/>
<geom size=".02"/>
</composite>
</worldbody>
</mujoco>
model/composite/loop.xml
+12 -13
View File
@@ -14,20 +14,19 @@
-->
<mujoco model="Loop">
<include file="scene.xml"/>
<include file="scene.xml"/>
<option timestep="0.002" jacobian="dense"/>
<option timestep="0.002" jacobian="dense"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<worldbody>
<body name="B0" pos="0 0 1">
<freejoint/>
<composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
<worldbody>
<body name="B0" pos="0 0 1">
<freejoint/>
<composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/composite/particle.xml
+23 -11
View File
@@ -14,20 +14,32 @@
-->
<mujoco model="Particle">
<!-- Degree of Freedom: 3000
Actuators: 0
-->
<include file="scene.xml"/>
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6" timestep=".01"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="6000" njmax="6000" nstack="50000000"/>
<size nconmax="3000" njmax="3000" nstack="50000000"/>
<visual>
<map stiffness="100"/>
</visual>
<visual>
<map stiffness="100"/>
</visual>
<default>
<default class="wall">
<geom type="plane" size=".5 .5 .05"/>
</default>
</default>
<worldbody>
<composite type="particle" count="10 10 10" spacing="0.07" offset="0 0 1">
<geom size=".02" rgba=".8 .2 .1 1"/>
</composite>
</worldbody>
<worldbody>
<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
<composite type="particle" count="10 10 10" spacing="0.07" offset="0 0 1">
<geom size=".025" rgba=".8 .2 .1 1"/>
</composite>
</worldbody>
</mujoco>
model/composite/rope.xml
+12 -13
View File
@@ -14,20 +14,19 @@
-->
<mujoco model="Rope">
<include file="scene.xml"/>
<include file="scene.xml"/>
<option timestep="0.002" jacobian="dense"/>
<option timestep="0.002" jacobian="dense"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<worldbody>
<body name="B10" pos="0 0 1">
<freejoint/>
<composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
<worldbody>
<body name="B10" pos="0 0 1">
<freejoint/>
<composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/composite/scene.xml
+28 -28
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@@ -14,39 +14,39 @@
-->
<mujoco>
<compiler meshdir="asset" texturedir="asset"/>
<statistic extent="1.5" meansize=".05"/>
<statistic extent="2" meansize=".05"/>
<option timestep="0.005" jacobian="sparse"/>
<option timestep="0.005" solver="Newton" iterations="30" tolerance="1e-10" jacobian="sparse" cone="pyramidal"/>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
</visual>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="2048"/>
<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texcarpet" type="2d" file="carpet.png"/>
<texture name="texsponge" type="2d" file="sponge.png"/>
<texture name="texmarble" type="cube" file="marble.png"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texcarpet" type="2d" file="carpet.png"/>
<texture name="texsponge" type="2d" file="sponge.png"/>
<texture name="texmarble" type="cube" file="marble.png"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matcarpet" texture="texcarpet"/>
<material name="matsponge" texture="texsponge" specular="0.3"/>
<material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
</asset>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matcarpet" texture="texcarpet"/>
<material name="matsponge" texture="texsponge" specular="0.3"/>
<material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
</asset>
<worldbody>
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<worldbody>
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
<geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
</body>
</worldbody>
<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
<geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
</body>
</worldbody>
</mujoco>
model/composite/softbox.xml
+17 -13
View File
@@ -14,20 +14,24 @@
-->
<mujoco model="Soft box">
<!-- Degree of Freedom: 224
Actuators: 0
Equality constraints: 651
-->
<include file="scene.xml"/>
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<worldbody>
<body pos="0 0 1">
<freejoint/>
<composite type="box" count="7 7 7" spacing="0.04">
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
<worldbody>
<body pos="0 0 1">
<freejoint/>
<composite type="box" count="7 7 7" spacing="0.04">
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
</composite>
</body>
</worldbody>
</mujoco>
model/composite/softcylinder.xml
-33
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@@ -1,33 +0,0 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Soft cylinder">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<worldbody>
<body pos="0 0 1">
<freejoint/>
<composite type="cylinder" count="5 7 9" spacing="0.05">
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/composite/softellipsoid.xml
-33
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@@ -1,33 +0,0 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Soft ellipsoid">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<worldbody>
<body pos="0 0 1">
<freejoint/>
<composite type="ellipsoid" count="5 7 9" spacing="0.05">
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>