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Add model with mixed geoms for CCD performance testing.

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PiperOrigin-RevId: 675567065
Change-Id: I9629b0757270ca541a96bb64384b5c41e7a9b728
This commit is contained in:
Yuval Tassa
2024-09-17 07:55:26 -07:00
committed by Copybara-Service
parent 476599f8b6
commit fb56d70dee
1 changed files with 107 additions and 0 deletions
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test/engine/testdata/collision_convex/perf/mixed.xml
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<mujoco model="Mixed convex objects">
<statistic extent="1.5" meansize=".05"/>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<map shadowscale="0.5" zfar="40"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
<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"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
<mesh name="icosahedron" scale=".05 .05 .05"
vertex="0 1 1.618
0 -1 1.618
0 1 -1.618
0 -1 -1.618
1 1.618 0
-1 1.618 0
1 -1.618 0
-1 -1.618 0
1.618 0 1
1.618 0 -1
-1.618 0 1
-1.618 0 -1"/>
<mesh name="meshbox" scale=".05 .05 .05"
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"/>
<hfield name="hfield" nrow="5" ncol="5" size=".53 .53 .03 .03"
elevation="1 0 1 0 1
0 2 0 2 0
1 0 1 0 1
0 2 0 2 0
1 0 1 0 1"/>
</asset>
<default>
<geom condim="1" solref="2e-3 1" size=".05 .15 .07"/>
</default>
<option timestep="1e-3" solver="CG" iterations="20"/>
<worldbody>
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
<geom type="hfield" hfield="hfield" rgba=".5 .5 .5 .2"/>
<replicate count="4" euler="0 0 90">
<geom type="hfield" hfield="hfield" zaxis="1 0 0" pos="-.5 0 .5" rgba=".5 .5 .5 .2"/>
</replicate>
<replicate count="15" euler="0 0 60" offset="0 0 .15">
<body pos="-.3 -.3 .3" euler="10 20 30">
<freejoint/>
<geom type="ellipsoid"/>
</body>
</replicate>
<replicate count="15" euler="0 0 60" offset="0 0 .15">
<body pos="-.3 -.3 1" euler="10 20 30">
<freejoint/>
<geom type="box"/>
</body>
</replicate>
<replicate count="15" euler="0 0 60" offset="0 0 .15">
<body pos="-.3 -.3 .6" euler="10 20 30">
<freejoint/>
<geom type="capsule"/>
</body>
</replicate>
<replicate count="15" euler="0 0 60" offset="0 0 .15">
<body pos="-.3 .3 .3" euler="10 20 30">
<freejoint/>
<geom type="cylinder"/>
</body>
</replicate>
<replicate count="20" euler="0 0 60" offset="0 0 .15">
<body pos="-.15 .15 .3" euler="10 20 30">
<freejoint/>
<geom type="mesh" mesh="icosahedron"/>
</body>
</replicate>
<replicate count="20" euler="0 0 60" offset="0 0 .15">
<body pos=".15 -.15 .3" euler="10 20 30">
<freejoint/>
<geom type="mesh" mesh="meshbox"/>
</body>
</replicate>
<replicate count="15" euler="0 0 60" offset="0 0 .15">
<body pos=".05 0 .3" euler="10 20 30">
<freejoint/>
<geom type="sphere"/>
</body>
</replicate>
</worldbody>
</mujoco>