Update MJX colab with hfield example.

PiperOrigin-RevId: 641061897 Change-Id: I2d840aa2e696a73d31522b8a94c9c4e0c58d1218
google-deepmind · Jun 6, 2024 · 24e4502 · 24e4502
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commit 24e4502
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Showing 3 changed files with 40 additions and 1 deletion.
diff --git a/google_barkour_vb/assets/hfield.png b/google_barkour_vb/assets/hfield.png
diff --git a/google_barkour_vb/barkour_vb_mjx.xml b/google_barkour_vb/barkour_vb_mjx.xml
@@ -76,7 +76,7 @@
   <worldbody>
     <body name="torso" childclass="bkvb">
       <freejoint name="torso"/>
-      <camera name="track" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940" mode="trackcom"/>
+      <camera name="track" pos="1.958 -2.348 0.591" xyaxes="0.768 0.641 0.000 -0.101 0.122 0.987" mode="trackcom"/>
       <inertial pos="0.0055238 -0.000354563 0.00835899" quat="-0.00150849 0.694899 -0.000198355 0.719106" mass="6.04352"
         diaginertia="0.144664 0.12027 0.0511405"/>
       <geom class="bkvb/torso" pos="-7.85127e-05 -0.000500734 0" mesh="neck"/>

diff --git a/google_barkour_vb/scene_hfield_mjx.xml b/google_barkour_vb/scene_hfield_mjx.xml
@@ -0,0 +1,39 @@
+<mujoco model="barkour vB scene">
+  <include file="barkour_vb_mjx.xml"/>
+
+  <statistic center="0 0 0.1" extent="0.8"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="120" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <hfield name="hfield" file="assets/hfield.png" size="10 10 .05 0.1"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <camera name="default" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940"/>
+    <geom name="floor" type="hfield" hfield="hfield" conaffinity="1" material="groundplane"/>
+  </worldbody>
+
+  <keyframe>
+    <key name="home"
+      qpos="0 0 0.3
+            1 0 0 0
+            0.0 0.5 1.0
+            0.0 0.5 1.0
+            0.0 0.5 1.0
+            0.0 0.5 1.0"
+      ctrl="0.0 0.5 1.0
+            0.0 0.5 1.0
+            0.0 0.5 1.0
+            0.0 0.5 1.0"/>
+  </keyframe>
+</mujoco>