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Add a benchmark scene with multiple rigid objects #798

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Merged
merged 8 commits into from
Nov 13, 2025
Merged

Add a benchmark scene with multiple rigid objects #798

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61daa71
Add benchmark scenes with rigid objects
Kenny-Vilella Oct 27, 2025
324759c
Fix indentation
hartikainen Nov 1, 2025
82c53c0
Add more primitive geoms
hartikainen Nov 1, 2025
885e697
Merge pull request #1 from hartikainen/dev/kvilella/add_benchmark_rig…
Kenny-Vilella Nov 6, 2025
b548fea
Move the stack of objects closer to the side
Kenny-Vilella Nov 6, 2025
1dfbf76
attach
thowell Nov 12, 2025
bd6be10
attach last
thowell Nov 12, 2025
13e7b15
Merge pull request #2 from thowell/scene_objects
Kenny-Vilella Nov 13, 2025
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77 changes: 77 additions & 0 deletions benchmark/apptronik_apollo/scene_objects.xml
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Original file line number Diff line number Diff line change
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<mujoco model="apptronik_apollo scene objects">

<visual>
<map znear="0.01" zfar="200" />
<quality shadowsize="8192" />
<headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1" />
<global azimuth="140" elevation="-20" />
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800" />
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<model name="apptronik_apollo" file="apptronik_apollo.xml"/>
</asset>

<worldbody>
<geom name="floor" size="0 0 .05" type="plane" material="grid" contype="1" conaffinity="1"/>
<light pos="0 0 3" dir="0 0 -1" directional="true" />

<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"/>
<!-- Walls of the container box -->
<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"/>
<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"/>
<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"/>
<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"/>

<!-- 4 spheres -->
<replicate count="4" offset="0.075 0.075 0">
<body name="sphere" pos="0.6 -0.1 0.81">
<freejoint name="sphere"/>
<geom name="geom_sphere" type="sphere" size="0.05" contype="1" conaffinity="1" rgba="1 0 0 1"/>
</body>
</replicate>

<!-- 2 capsules -->
<replicate count="2" offset="0.2 0 0">
<body name="capsule" pos="0.6 -0.15 0.91" quat="1 0.5 0 0">
<freejoint name="capsule"/>
<geom name="geom_capsule" type="capsule" size="0.04 0.04" contype="1" conaffinity="1" rgba="0 1 0 1"/>
</body>
</replicate>

<!-- 4 ellipsoids -->
<replicate count="4" offset="0 0.1 0">
<body name="ellipsoid" pos="0.7 -0.15 1.16">
<freejoint name="ellipsoid"/>
<geom name="geom_ellipsoid" type="ellipsoid" size="0.05 0.04 0.03" contype="1" conaffinity="1" rgba="0 0 1 1"/>
</body>
</replicate>

<!-- 2 cylinders -->
<replicate count="2" offset="0.3 0 0" euler="0 0 15">
<body name="cylinder" pos="0.55 0 0.95" quat="0 0.5 0 1">
<freejoint name="cylinder"/>
<geom name="geom_cylinder" type="cylinder" size="0.04 0.04" contype="1" conaffinity="1" rgba="1 1 0 1"/>
</body>
</replicate>

<!-- Two stacks of 3 boxes -->
<replicate count="3" offset="0 0 0.06">
<body name="box1" pos="0.65 0 0.94">
<freejoint name="joint1"/>
<geom name="geom1" type="box" size="0.03 0.03 0.03" contype="1" conaffinity="1" rgba="0 1 1 1"/>
</body>
</replicate>
<replicate count="3" offset="0 0 0.06">
<body name="box2" pos="0.75 0 0.94">
<freejoint name="joint2"/>
<geom name="geom2" type="box" size="0.03 0.03 0.03" contype="1" conaffinity="1" rgba="0 1 1 1"/>
</body>
</replicate>

<!-- attach Apptronik Apollo -->
<attach model="apptronik_apollo" body="base_link" prefix="_"/>
</worldbody>
</mujoco>
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