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Kenny-Vilellahartikainenthowell
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Add a benchmark scene with multiple rigid objects (#798)
* Add benchmark scenes with rigid objects * Fix indentation * Add more primitive geoms * Move the stack of objects closer to the side * attach * attach last --------- Co-authored-by: Kristian Hartikainen <[email protected]> Co-authored-by: Taylor Howell <[email protected]>
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‎benchmark/apptronik_apollo/scene_objects.xml‎

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<mujoco model="apptronik_apollo scene objects">
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<visual>
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<map znear="0.01" zfar="200" />
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<quality shadowsize="8192" />
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<headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1" />
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<global azimuth="140" elevation="-20" />
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800" />
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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<model name="apptronik_apollo" file="apptronik_apollo.xml"/>
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</asset>
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<worldbody>
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<geom name="floor" size="0 0 .05" type="plane" material="grid" contype="1" conaffinity="1"/>
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<light pos="0 0 3" dir="0 0 -1" directional="true" />
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<geom name="table" pos="0.8 0.0 0.5" type="box" size="0.5 1.0 0.01" quat="1.0 0.0 0.0 0.0" contype="1" conaffinity="1"/>
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<!-- Walls of the container box -->
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<geom name="box back wall" pos="0.9 0.0 0.61" type="box" size="0.01 0.21 0.1" contype="1" conaffinity="1"/>
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<geom name="box front wall" pos="0.5 0.0 0.61" type="box" size="0.01 0.21 0.1" contype="1" conaffinity="1"/>
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<geom name="box left wall" pos="0.7 -0.2 0.61" type="box" size="0.21 0.01 0.1" contype="1" conaffinity="1"/>
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<geom name="box right wall" pos="0.7 0.2 0.61" type="box" size="0.21 0.01 0.1" contype="1" conaffinity="1"/>
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<!-- 4 spheres -->
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<replicate count="4" offset="0.075 0.075 0">
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<body name="sphere" pos="0.6 -0.1 0.81">
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<freejoint name="sphere"/>
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<geom name="geom_sphere" type="sphere" size="0.05" contype="1" conaffinity="1" rgba="1 0 0 1"/>
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</body>
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</replicate>
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<!-- 2 capsules -->
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<replicate count="2" offset="0.2 0 0">
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<body name="capsule" pos="0.6 -0.15 0.91" quat="1 0.5 0 0">
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<freejoint name="capsule"/>
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<geom name="geom_capsule" type="capsule" size="0.04 0.04" contype="1" conaffinity="1" rgba="0 1 0 1"/>
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</body>
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</replicate>
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<!-- 4 ellipsoids -->
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<replicate count="4" offset="0 0.1 0">
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<body name="ellipsoid" pos="0.7 -0.15 1.16">
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<freejoint name="ellipsoid"/>
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<geom name="geom_ellipsoid" type="ellipsoid" size="0.05 0.04 0.03" contype="1" conaffinity="1" rgba="0 0 1 1"/>
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</body>
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</replicate>
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<!-- 2 cylinders -->
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<replicate count="2" offset="0.3 0 0" euler="0 0 15">
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<body name="cylinder" pos="0.55 0 0.95" quat="0 0.5 0 1">
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<freejoint name="cylinder"/>
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<geom name="geom_cylinder" type="cylinder" size="0.04 0.04" contype="1" conaffinity="1" rgba="1 1 0 1"/>
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</body>
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</replicate>
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<!-- Two stacks of 3 boxes -->
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<replicate count="3" offset="0 0 0.06">
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<body name="box1" pos="0.65 0 0.94">
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<freejoint name="joint1"/>
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<geom name="geom1" type="box" size="0.03 0.03 0.03" contype="1" conaffinity="1" rgba="0 1 1 1"/>
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</body>
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</replicate>
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<replicate count="3" offset="0 0 0.06">
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<body name="box2" pos="0.75 0 0.94">
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<freejoint name="joint2"/>
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<geom name="geom2" type="box" size="0.03 0.03 0.03" contype="1" conaffinity="1" rgba="0 1 1 1"/>
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</body>
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</replicate>
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<!-- attach Apptronik Apollo -->
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<attach model="apptronik_apollo" body="base_link" prefix="_"/>
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</worldbody>
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</mujoco>

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