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Add more scene golden tests.
PiperOrigin-RevId: 812708484 Change-Id: Icba94b128c89097703611ac4f6974f6d1cb19b4d
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‎test/testdata/catenary.xml‎

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<mujoco>
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<visual>
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<global elevation="-20"/>
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</visual>
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<worldbody>
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<geom type="plane" size="1 1 .1"/>
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<light pos="0 -.2 2" dir="0 1 -4" diffuse="1 1 1"/>
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<body pos="0 0 .8">
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<joint type="slide" stiffness="1000"/>
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<geom size=".05" mass="20"/>
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<site name="hook" pos="0 0 -.05"/>
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</body>
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<body pos="-.15 -.15 .3">
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<joint name="hinge" type="hinge" axis="0 0 1" damping=".5"/>
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<geom type="cylinder" size=".01" fromto="0 0 0 0 0 .1"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .25 0 0"/>
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<geom size=".02" pos=".25 0 0"/>
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<site name="corner" pos=".25 0 .02"/>
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</body>
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</worldbody>
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<tendon>
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<spatial limited="true" range="0 .5" width=".005">
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<site site="hook"/>
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<site site="corner"/>
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</spatial>
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</tendon>
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<actuator>
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<general joint="hinge" biasprm="2" biastype="affine"/>
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</actuator>
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</mujoco>

‎test/testdata/frustum.xml‎

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<!-- Please activate Camera rendering when loading this model.
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The frustum should match exactly the fron face of the box. -->
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<mujoco>
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<visual>
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<map znear="0.01"/>
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<rgba frustum="1. 1. 0 0.2"/>
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<scale frustum="3"/>
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</visual>
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<asset>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
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<texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
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</asset>
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<worldbody>
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<light pos="0 0 3"/>
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<geom type="plane" size="10 10 .01"/>
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<geom type="box" size=".375 .6 .1" pos="1.1 0 1" material="grid" euler="0 90 0"/>
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<!-- 8mm focal length lenses -->
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<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" focalpixel="1600 1600" resolution="1920 1200"
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sensorsize="9.6e-3 6e-3"/>
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<body euler="0 0 90">
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<geom type="box" size=".375 .6 .1" pos="1.1 2 1" material="grid" euler="0 90 0"/>
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<!-- 8mm focal length lenses -->
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<camera pos="0 2 1" xyaxes="0 -1 0 0 0 1" focal="8e-3 8e-3" resolution="1920 1200"
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sensorsize="9.6e-3 6e-3" principalpixel="200 0"/>
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</body>
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</worldbody>
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</mujoco>

‎test/testdata/hammock.xml‎

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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 model="Hammock">
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<!-- Degree of Freedom: 312
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Actuators: 21
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Equality constraints: 178
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Tendons: 178
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Simple hammock, implemented as a 2D grid composite, pinned at the corners.
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-->
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<option timestep="0.001" solver="CG" iterations="30" tolerance="1e-6"/>
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<size memory="20M"/>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="2048"/>
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<global offwidth="800" offheight="800"/>
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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="plane" 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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<texture name="hammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1"
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width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
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<material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true"/>
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<material name="hammock" texture="hammock"/>
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</asset>
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<worldbody>
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<geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="plane" condim="3"/>
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<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
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<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1"/>
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<flexcomp name="hammock" type="grid" count="11 9 1" spacing="0.2 0.2 0.2" material="hammock"
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radius="0.04" dim="2">
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<pin id="0 8 90 98"/>
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<edge equality="true" damping="10" solimp=".95 .99"/>
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<contact selfcollide="none" internal="false" solimp=".99 .999 .00001"/>
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</flexcomp>
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</worldbody>
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</mujoco>

‎test/testdata/tendon_wrap.xml‎

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<mujoco>
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<option>
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<flag island="enable"/>
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</option>
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<default>
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<joint type="slide" axis="1 0 0" damping="3" frictionloss=".1"/>
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<geom type="cylinder" size=".07 .1" zaxis="0 1 0"/>
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<site size=".015" rgba="1 0 0 1"/>
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</default>
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<worldbody>
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<site name="anchor" pos="0 0 1"/>
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<body pos="0 0 .75">
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<joint stiffness="10"/>
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<geom name="0"/>
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</body>
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<site name="side0" pos=".15 0 .75" rgba="0 0 1 1"/>
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<site name="01" pos="0 0 .625"/>
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<body pos="0 0 .5">
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<joint stiffness="30"/>
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<geom name="1"/>
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</body>
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<site name="side1" pos="-.15 0 .5" rgba="0 0 1 1"/>
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<site name="12" pos="0 0 .375"/>
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<body pos="0 0 .25">
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<joint stiffness="100"/>
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<geom name="2"/>
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</body>
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<site name="side2" pos=".15 0 .25" rgba="0 0 1 1"/>
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<body>
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<freejoint/>
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<site name="box" pos="0 0 .1"/>
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<geom type="box" size=".1 .1 .1"/>
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</body>
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</worldbody>
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<tendon>
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<spatial limited="true" range="0 1.05" rgba="0 1 0 1" width=".005">
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<site site="anchor"/>
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<geom geom="0" sidesite="side0"/>
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<site site="01"/>
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<geom geom="1" sidesite="side1"/>
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<site site="12"/>
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<geom geom="2" sidesite="side2"/>
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<site site="box"/>
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</spatial>
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</tendon>
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</mujoco>
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