Add more scene golden tests.
PiperOrigin-RevId: 812708484 Change-Id: Icba94b128c89097703611ac4f6974f6d1cb19b4d
This commit is contained in:
Haroon Qureshi
committed by
Copybara-Service
Copybara-Service
parent
6a7566872a
commit
b17f4b26dc
Vendored
+34
@@ -0,0 +1,34 @@
|
||||
<mujoco>
|
||||
<visual>
|
||||
<global elevation="-20"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom type="plane" size="1 1 .1"/>
|
||||
<light pos="0 -.2 2" dir="0 1 -4" diffuse="1 1 1"/>
|
||||
<body pos="0 0 .8">
|
||||
<joint type="slide" stiffness="1000"/>
|
||||
<geom size=".05" mass="20"/>
|
||||
<site name="hook" pos="0 0 -.05"/>
|
||||
</body>
|
||||
|
||||
<body pos="-.15 -.15 .3">
|
||||
<joint name="hinge" type="hinge" axis="0 0 1" damping=".5"/>
|
||||
<geom type="cylinder" size=".01" fromto="0 0 0 0 0 .1"/>
|
||||
<geom type="capsule" size=".01" fromto="0 0 0 .25 0 0"/>
|
||||
<geom size=".02" pos=".25 0 0"/>
|
||||
<site name="corner" pos=".25 0 .02"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<tendon>
|
||||
<spatial limited="true" range="0 .5" width=".005">
|
||||
<site site="hook"/>
|
||||
<site site="corner"/>
|
||||
</spatial>
|
||||
</tendon>
|
||||
|
||||
<actuator>
|
||||
<general joint="hinge" biasprm="2" biastype="affine"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
Vendored
+33
@@ -0,0 +1,33 @@
|
||||
<!-- Please activate Camera rendering when loading this model.
|
||||
The frustum should match exactly the fron face of the box. -->
|
||||
|
||||
<mujoco>
|
||||
<visual>
|
||||
<map znear="0.01"/>
|
||||
<rgba frustum="1. 1. 0 0.2"/>
|
||||
<scale frustum="3"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
|
||||
<texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light pos="0 0 3"/>
|
||||
<geom type="plane" size="10 10 .01"/>
|
||||
|
||||
<geom type="box" size=".375 .6 .1" pos="1.1 0 1" material="grid" euler="0 90 0"/>
|
||||
<!-- 8mm focal length lenses -->
|
||||
<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" focalpixel="1600 1600" resolution="1920 1200"
|
||||
sensorsize="9.6e-3 6e-3"/>
|
||||
|
||||
<body euler="0 0 90">
|
||||
<geom type="box" size=".375 .6 .1" pos="1.1 2 1" material="grid" euler="0 90 0"/>
|
||||
<!-- 8mm focal length lenses -->
|
||||
<camera pos="0 2 1" xyaxes="0 -1 0 0 0 1" focal="8e-3 8e-3" resolution="1920 1200"
|
||||
sensorsize="9.6e-3 6e-3" principalpixel="200 0"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Vendored
+58
@@ -0,0 +1,58 @@
|
||||
<!-- 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="Hammock">
|
||||
<!-- Degree of Freedom: 312
|
||||
Actuators: 21
|
||||
Equality constraints: 178
|
||||
Tendons: 178
|
||||
|
||||
Simple hammock, implemented as a 2D grid composite, pinned at the corners.
|
||||
-->
|
||||
|
||||
<option timestep="0.001" solver="CG" iterations="30" tolerance="1e-6"/>
|
||||
|
||||
<size memory="20M"/>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="2048"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="plane" 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="hammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1"
|
||||
width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
|
||||
<material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true"/>
|
||||
<material name="hammock" texture="hammock"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="plane" condim="3"/>
|
||||
<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
|
||||
<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1"/>
|
||||
<flexcomp name="hammock" type="grid" count="11 9 1" spacing="0.2 0.2 0.2" material="hammock"
|
||||
radius="0.04" dim="2">
|
||||
<pin id="0 8 90 98"/>
|
||||
<edge equality="true" damping="10" solimp=".95 .99"/>
|
||||
<contact selfcollide="none" internal="false" solimp=".99 .999 .00001"/>
|
||||
</flexcomp>
|
||||
</worldbody>
|
||||
|
||||
</mujoco>
|
||||
Vendored
+56
@@ -0,0 +1,56 @@
|
||||
<mujoco>
|
||||
<option>
|
||||
<flag island="enable"/>
|
||||
</option>
|
||||
|
||||
<default>
|
||||
<joint type="slide" axis="1 0 0" damping="3" frictionloss=".1"/>
|
||||
<geom type="cylinder" size=".07 .1" zaxis="0 1 0"/>
|
||||
<site size=".015" rgba="1 0 0 1"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<site name="anchor" pos="0 0 1"/>
|
||||
|
||||
<body pos="0 0 .75">
|
||||
<joint stiffness="10"/>
|
||||
<geom name="0"/>
|
||||
</body>
|
||||
<site name="side0" pos=".15 0 .75" rgba="0 0 1 1"/>
|
||||
|
||||
<site name="01" pos="0 0 .625"/>
|
||||
|
||||
<body pos="0 0 .5">
|
||||
<joint stiffness="30"/>
|
||||
<geom name="1"/>
|
||||
</body>
|
||||
<site name="side1" pos="-.15 0 .5" rgba="0 0 1 1"/>
|
||||
|
||||
<site name="12" pos="0 0 .375"/>
|
||||
|
||||
<body pos="0 0 .25">
|
||||
<joint stiffness="100"/>
|
||||
<geom name="2"/>
|
||||
</body>
|
||||
<site name="side2" pos=".15 0 .25" rgba="0 0 1 1"/>
|
||||
|
||||
<body>
|
||||
<freejoint/>
|
||||
<site name="box" pos="0 0 .1"/>
|
||||
<geom type="box" size=".1 .1 .1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<tendon>
|
||||
<spatial limited="true" range="0 1.05" rgba="0 1 0 1" width=".005">
|
||||
<site site="anchor"/>
|
||||
<geom geom="0" sidesite="side0"/>
|
||||
<site site="01"/>
|
||||
<geom geom="1" sidesite="side1"/>
|
||||
<site site="12"/>
|
||||
<geom geom="2" sidesite="side2"/>
|
||||
<site site="box"/>
|
||||
</spatial>
|
||||
</tendon>
|
||||
</mujoco>
|
||||
|
||||
Reference in New Issue
Block a user