Add Signed Distance Field to collision geometries.
PiperOrigin-RevId: 557507088 Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
6245edae28
commit
fdb041580c
@@ -0,0 +1,50 @@
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.bowl">
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<instance name="bowl">
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<config key="height" value="0.4"/>
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<config key="radius" value="1.0"/>
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<config key="thickness" value="0.02"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<mesh name="bowl">
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<plugin instance="bowl"/>
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</mesh>
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</asset>
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<option sdf_iterations="5" sdf_initpoints="20"/>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001" condim="1"/>
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</default>
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<statistic meansize=".1"/>
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<include file="scene.xml"/>
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<worldbody>
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<light name="left" pos="0 0 4"/>
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<light name="right" pos="-1 -1 2" dir="1 1 -2"/>
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<body euler="45 -15 0" pos="0 0 1">
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<geom type="sdf" name="bowl" mesh="bowl" rgba=".2 .8 .8 1">
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<plugin instance="bowl"/>
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</geom>
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</body>
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<body pos=".6 -.4 2.5">
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<freejoint/>
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<geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
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</body>
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<body pos="0 -.4 2.5">
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<freejoint/>
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<geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
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</body>
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<body pos=".3 -.4 2.5">
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<freejoint/>
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<geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
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</body>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,55 @@
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.gear">
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<instance name="gear1">
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<config key="alpha" value="0"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.sdf.gear">
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<instance name="gear2">
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<config key="alpha" value="15"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<mesh name="gear1">
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<plugin instance="gear1"/>
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</mesh>
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<mesh name="gear2">
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<plugin instance="gear2"/>
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</mesh>
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</asset>
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<option sdf_iterations="5" sdf_initpoints="20"/>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.2"/>
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</default>
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<statistic meansize=".1"/>
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<include file="scene.xml"/>
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<worldbody>
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<body pos="0 0 .2">
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<joint name="freewheel" type="hinge" damping="1000" axis="0 0 1"/>
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<geom type="sdf" name="gear1" mesh="gear1" rgba="0.4 0.4 0.4 1">
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<plugin instance="gear1"/>
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</geom>
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</body>
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<body pos="2.85 0 .2">
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<joint name="drive" type="hinge" damping=".1" axis="0 0 1"/>
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<geom type="sdf" name="gear2" mesh="gear2" rgba="0.7 0.7 0.7 1">
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<plugin instance="gear2"/>
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</geom>
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</body>
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<light name="left" pos="0 0 1"/>
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<light name="right" pos="1 0 1"/>
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</worldbody>
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<actuator>
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<motor name="drive" joint="drive" ctrlrange="-1 1" gear="1500" ctrllimited="true"/>
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</actuator>
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</mujoco>
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@@ -0,0 +1,35 @@
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.torus">
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<instance name="torus">
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<config key="radius1" value="0.35"/>
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<config key="radius2" value="0.15"/>
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</instance>
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</plugin>
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</extension>
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<option gravity="0 0 -9.81"/>
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<asset>
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<mesh name="torus">
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<plugin instance="torus"/>
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</mesh>
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<mesh file="../../mug/mug.obj" scale=".2 .2 .2"/>
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</asset>
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<include file="scene.xml"/>
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<worldbody>
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<body pos="0 .05 2.5" euler="90 0 0">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".8 .17 .15 1" group="1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body>
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<geom type="mesh" mesh="mug" euler="90 0 0" rgba="0 0 1 .2"/>
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</body>
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<light pos="1 0 7" dir="0 0 -1" castshadow="false"/>
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<light pos="-1 0 7" dir="0 0 -1" castshadow="false"/>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,56 @@
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.nut">
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<instance name="nut">
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<config key="radius" value="0.26"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.sdf.bolt">
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<instance name="bolt">
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<config key="radius" value="0.26"/>
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</instance>
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</plugin>
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</extension>
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<compiler autolimits="true"/>
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<include file="scene.xml"/>
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<visual>
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<map force="0.05"/>
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</visual>
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<asset>
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<mesh name="nut">
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<plugin instance="nut"/>
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</mesh>
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<mesh name="bolt">
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<plugin instance="bolt"/>
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</mesh>
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</asset>
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<option sdf_iterations="15" sdf_initpoints="60"/>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.01"/>
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</default>
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<statistic meansize=".1"/>
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<worldbody>
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<body pos="-0.0012496 0.00329058 0.830362" quat="-0.000212626 0.999996 -0.00200453 0.00185878">
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<joint type="free" damping="30"/>
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<geom type="sdf" name="nut" mesh="nut" rgba="0.83 0.68 0.4 1">
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<plugin instance="nut"/>
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</geom>
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</body>
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<body euler="180 0 0">
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<geom type="sdf" name="bolt" mesh="bolt" rgba="0.7 0.7 0.7 1">
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<plugin instance="bolt"/>
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</geom>
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</body>
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<light name="left" pos="-1 0 2" cutoff="80"/>
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<light name="right" pos="1 0 2" cutoff="80"/>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,68 @@
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.torus">
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<instance name="torus">
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<config key="radius1" value="0.35"/>
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<config key="radius2" value="0.15"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<mesh name="torus">
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<plugin instance="torus"/>
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</mesh>
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</asset>
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<option sdf_iterations="10" sdf_initpoints="20"/>
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<include file="scene.xml"/>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001"/>
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</default>
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<worldbody>
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<body pos="0 0 .175">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos=".1 .1 1.2">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos=".1 .1 2.6">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos="-.1 .2 2">
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<freejoint/>
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<geom type="sphere" size="0.3"/>
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</body>
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<body pos=".3 -.1 2" euler="0 0 45">
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<freejoint/>
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<geom type="ellipsoid" size=".4 .2 .2"/>
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</body>
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<body pos="-.1 .1 .5">
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<freejoint/>
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<geom type="capsule" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/>
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</body>
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<body pos=".2 -.2 .3">
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<freejoint/>
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<geom type="cylinder" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/>
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</body>
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<body pos=".1 .1 3.5">
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<freejoint/>
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<geom type="box" size=".2 .2 .2"/>
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</body>
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<light name="left" pos="0 0 1"/>
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<light name="right" pos="1 0 1"/>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,38 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco>
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<compiler texturedir="asset"/>
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<statistic meansize=".05"/>
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<visual>
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<rgba haze="0.15 0.25 0.35 1"/>
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<map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1" shadowclip="3"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
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width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
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</asset>
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<worldbody>
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<light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
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<geom name="ground" type="plane" pos="0 0 -.02" size="10 10 .01" material="matplane" condim="1"/>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,54 @@
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.torus">
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<instance name="torus">
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<config key="radius1" value="0.35"/>
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<config key="radius2" value="0.15"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<mesh name="torus">
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<plugin instance="torus"/>
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</mesh>
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</asset>
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<option sdf_iterations="10" sdf_initpoints="40"/>
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<include file="scene.xml"/>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.1"/>
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</default>
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<worldbody>
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<body pos="-1 0 3.8">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".2 .2 .8 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos="-1 0 3.4">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".2 .8 .2 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos="-1 0 3">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos="0 0 2">
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<geom type="cylinder" size=".1" fromto="1 0 -1 -1 0 1"/>
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</body>
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<body pos="0 0 2">
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<geom type="cylinder" size=".5" fromto="1.2 0 -1.2 1 0 -1"/>
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</body>
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<light name="left" pos="-2 0 7" cutoff="80"/>
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<light name="right" pos="2 0 7" cutoff="80"/>
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</worldbody>
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</mujoco>
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