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Implement sleeping in engine

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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
This commit is contained in:
Yuval Tassa
2025-11-07 03:32:03 -08:00
committed by Copybara-Service
parent 1e0226d360
commit 769f37b653
55 changed files with 3602 additions and 677 deletions
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test/engine/engine_core_smooth_test.cc
+4 -4
View File
@@ -742,7 +742,7 @@ TEST_F(CoreSmoothTest, SolveLDs) {
mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1,
m->M_rownnz, m->M_rowadr, m->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
// expect vectors to match up to floating point precision
for (int i=0; i < nv; i++) {
@@ -777,7 +777,7 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
m->M_rownnz, m->M_rowadr, m->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
// expect vectors to match up to floating point precision
for (int i=0; i < nv*n; i++) {
@@ -815,7 +815,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
m->M_rownnz, m->M_rowadr, m->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
// expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
for (int i=0; i < n; i++) {
@@ -854,7 +854,7 @@ TEST_F(CoreSmoothTest, FactorIs) {
vector<mjtNum> qLDiagInv(nv, 0);
mj_factorI(qLD.data(), qLDiagInv.data(), nv,
m->M_rownnz, m->M_rowadr, m->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
// expect outputs to match to floating point precision
EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected));
test/engine/engine_derivative_test.cc
+2 -2
View File
@@ -438,7 +438,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
}
mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
m->M_rownnz, m->M_rowadr, m->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
// A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv);
@@ -466,7 +466,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
d->moment_rowadr, d->moment_colind);
mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
m->M_rownnz, m->M_rowadr, m->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv);
test/engine/engine_sleep_test.cc
+349
View File
@@ -14,8 +14,11 @@
// Tests for engine/engine_sleep.c.
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <gtest/gtest-spi.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_sleep.h"
@@ -25,7 +28,10 @@ namespace mujoco {
namespace {
using ::testing::ElementsAre;
using ::testing::IsNull;
using ::testing::HasSubstr;
using ::testing::NotNull;
using ::std::string;
using SleepTest = MujocoTest;
@@ -177,5 +183,348 @@ TEST_F(SleepTest, MjSleepUpdate) {
mj_deleteModel(m);
}
TEST_F(SleepTest, MjWakeTree) {
// one awake tree and two cycles
int asleep[] = {kAwake, 2, 1, 3};
EXPECT_EQ(mj_wakeTree(asleep, 4, 0, kAwake), 0);
EXPECT_THAT(AsVector(asleep, 4), ElementsAre(kAwake, 2, 1, 3));
EXPECT_EQ(mj_wakeTree(asleep, 4, 1, kAwake), 2);
EXPECT_THAT(AsVector(asleep, 4),
ElementsAre(kAwake, kAwake, kAwake, 3));
EXPECT_EQ(mj_wakeTree(asleep, 4, 3, kAwake), 1);
EXPECT_THAT(AsVector(asleep, 4),
ElementsAre(kAwake, kAwake, kAwake, kAwake));
}
TEST_F(SleepTest, BadWakeTree) {
EXPECT_FATAL_FAILURE(
([] {
int asleep_bad1[] = {-1, 0};
mj_wakeTree(asleep_bad1, 2, 1, kAwake);
}()),
"invalid sleep state index -1 when waking tree 1");
EXPECT_FATAL_FAILURE(
([] {
int asleep_bad2[] = {-1, 2};
mj_wakeTree(asleep_bad2, 2, 1, kAwake);
}()),
"invalid sleep state index 2 when waking tree 1");
EXPECT_FATAL_FAILURE(
([] {
int asleep_bad3[] = {1, 2, 1};
mj_wakeTree(asleep_bad3, 3, 0, kAwake);
}()),
"tree 0 is not in a cycle");
}
static const char* const kStaticModel = "engine/testdata/sleep/static.xml";
static const char* const kSmoothModel = "engine/testdata/sleep/smooth.xml";
static const char* const kInitModel = "engine/testdata/sleep/init.xml";
static const char* const kInitIslandModel =
"engine/testdata/sleep/init_island.xml";
static const char* const kTendonModel = "engine/testdata/sleep/tendon.xml";
static const char* const kContactModel = "engine/testdata/sleep/contact.xml";
static const char* const kPairModel = "engine/testdata/sleep/contactpair.xml";
static const char* const kSensorModel = "engine/testdata/sleep/sensor.xml";
// roll out some models with sleeping enabled, valuable under ASAN and MSAN
TEST_F(SleepTest, KickTires) {
for (const char* path :
{kStaticModel, kInitModel, kInitIslandModel, kSensorModel, kTendonModel,
kContactModel, kPairModel, kSmoothModel}) {
const std::string xml_path = GetTestDataFilePath(path);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
int duration_id = mj_name2id(m, mjOBJ_NUMERIC, "duration");
ASSERT_GE(duration_id, 0);
mjtNum duration = m->numeric_data[m->numeric_adr[duration_id]];
mjData* d = mj_makeData(m);
while (d->time < duration) {
mj_step(m, d);
}
mj_deleteData(d);
mj_deleteModel(m);
}
}
// Test that sleeping does not affect the simulation of awake trees:
// Roll out kSmoothModel, where all trees go to sleep within `duration` seconds
// in two mjData's, one with sleeping enabled and one without; expect the same
// values (for selected arrays) in awake trees in both.
TEST_F(SleepTest, WakingUnaffectedBySleeping) {
const std::string xml_path = GetTestDataFilePath(kSmoothModel);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
int duration_id = mj_name2id(m, mjOBJ_NUMERIC, "duration");
ASSERT_GE(duration_id, 0);
mjtNum duration = m->numeric_data[m->numeric_adr[duration_id]];
for (mjtJacobian jacobian : {mjJAC_DENSE, mjJAC_SPARSE}) {
m->opt.jacobian = jacobian;
for (mjtIntegrator integrator : // TODO: b/457674312 - Add support for RK4.
{mjINT_EULER, mjINT_IMPLICITFAST, mjINT_IMPLICIT}) {
m->opt.integrator = integrator;
// make data with sleeping enabled
m->opt.enableflags |= mjENBL_SLEEP;
mjData* d_sleep = mj_makeData(m);
// make data with sleeping disabled
m->opt.enableflags &= ~mjENBL_SLEEP;
mjData* d_nosleep = mj_makeData(m);
// disable constraints, contacts
m->opt.disableflags |= mjDSBL_CONSTRAINT | mjDSBL_CONTACT;
ASSERT_EQ(d_sleep->nbody_awake, m->nbody);
int nbody_awake = -1;
while (d_nosleep->time < duration) {
m->opt.enableflags |= mjENBL_SLEEP;
mj_step(m, d_sleep);
m->opt.enableflags &= ~mjENBL_SLEEP;
mj_step(m, d_nosleep);
// if nbody_awake is not changed, skip
if (d_sleep->nbody_awake == nbody_awake) {
continue;
}
// compare xpos
for (int i = 0; i < m->nbody; i++) {
if (d_sleep->body_awake[i] == mjS_ASLEEP) continue;
auto xpos1 = AsVector(d_nosleep->xpos + 3 * i, 3);
auto xpos2 = AsVector(d_sleep->xpos + 3 * i, 3);
EXPECT_EQ(xpos1, xpos2)
<< " xpos[" << i << "] at time " << d_nosleep->time;
}
// compare M and qLD
for (int i = 0; i < d_sleep->nv_awake; i++) {
int j = d_sleep->dof_awake_ind[i];
auto M1 = AsVector(d_nosleep->M + m->M_rowadr[j], m->M_rownnz[j]);
auto M2 = AsVector(d_sleep->M + m->M_rowadr[j], m->M_rownnz[j]);
EXPECT_EQ(M1, M2) << " M[" << j << ",:] at time " << d_nosleep->time;
auto qLD1 = AsVector(d_nosleep->qLD + m->M_rowadr[j], m->M_rownnz[j]);
auto qLD2 = AsVector(d_sleep->qLD + m->M_rowadr[j], m->M_rownnz[j]);
EXPECT_EQ(qLD1, qLD2)
<< " qLD[" << j << ",:] at time " << d_nosleep->time;
}
// compare cvel
for (int i = 0; i < d_sleep->nbody_awake; i++) {
if (d_sleep->body_awake[i] == mjS_ASLEEP) continue;
auto cvel1 = AsVector(d_nosleep->cvel + 6 * i, 6);
auto cvel2 = AsVector(d_sleep->cvel + 6 * i, 6);
EXPECT_EQ(cvel1, cvel2)
<< " cvel[" << i << "] at time " << d_nosleep->time;
}
// compare subtree_angmom, only for dynamic bodies
for (int i = 0; i < d_sleep->nbody_awake; i++) {
if (d_sleep->body_awake[i] != mjS_AWAKE) continue;
auto subtree_angmom1 = AsVector(d_nosleep->subtree_angmom + 3 * i, 3);
auto subtree_angmom2 = AsVector(d_sleep->subtree_angmom + 3 * i, 3);
EXPECT_EQ(subtree_angmom1, subtree_angmom2)
<< " subtree_angmom[" << i << "] at time " << d_nosleep->time;
}
// compare qfrc/qacc arrays
for (int i = 0; i < d_sleep->nv_awake; i++) {
int j = d_sleep->dof_awake_ind[i];
EXPECT_EQ(d_nosleep->qfrc_smooth[j], d_sleep->qfrc_smooth[j])
<< " qfrc_smooth[" << j << "] at time " << d_nosleep->time;
EXPECT_EQ(d_nosleep->qacc_smooth[j], d_sleep->qacc_smooth[j])
<< " qacc_smooth[" << j << "] at time " << d_nosleep->time;
EXPECT_EQ(d_nosleep->qacc[j], d_sleep->qacc[j])
<< " qacc[" << j << "] at time " << d_nosleep->time;
}
nbody_awake = d_sleep->nbody_awake;
}
mj_deleteData(d_sleep);
mj_deleteData(d_nosleep);
}
}
mj_deleteModel(m);
}
// Test that waking does not affect sleeping trees for pos/vel-dependent arrays.
// Roll out models where some trees wake and/or sleep. At kCompare intervals,
// copy the state from the mjData with sleeping enabled to another mjData and
// call mj_forward with sleeping disabled. Expect pos/vel-dependent arrays to be
// unchanged for all trees and frc/acc-dependent arrays to be the same for awake
// trees.
TEST_F(SleepTest, SleepingUnaffectedByWaking) {
for (const char* path : {kInitModel, kInitIslandModel, kTendonModel,
kContactModel, kSensorModel, kSmoothModel}) {
const std::string xml_path = GetTestDataFilePath(path);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
const int kCompare = 10; // number of comparisons per rollout
// TODO: b/457674312 - Add support for RK4.
for (mjtIntegrator integrator :
{mjINT_EULER, mjINT_IMPLICITFAST, mjINT_IMPLICIT}) {
m->opt.integrator = integrator;
// make data with sleeping enabled
m->opt.enableflags |= mjENBL_SLEEP;
mjData* d_sleep = mj_makeData(m);
// make data with sleeping disabled
m->opt.enableflags &= ~mjENBL_SLEEP;
mjData* d_nosleep = mj_makeData(m);
int duration_id = mj_name2id(m, mjOBJ_NUMERIC, "duration");
ASSERT_GE(duration_id, 0);
mjtNum duration = m->numeric_data[m->numeric_adr[duration_id]];
int compare_interval = duration / (m->opt.timestep * kCompare);
int nsteps = 0;
while (d_sleep->time < duration) {
// step d_sleep with sleeping enabled
m->opt.enableflags |= mjENBL_SLEEP;
mj_step(m, d_sleep);
nsteps++;
// every compare_interval steps, compare with d_nosleep
if (nsteps % compare_interval != 0) {
continue;
}
// call mj_forward to update d_sleep
mj_forward(m, d_sleep);
// copy state from d_sleep to d_nosleep
mj_copyData(d_nosleep, m, d_sleep);
// forward d_nosleep with sleeping disabled
m->opt.enableflags &= ~mjENBL_SLEEP;
mj_forward(m, d_nosleep);
// ==== compare arrays for all dofs / bodies / sensors ====
// compare xpos
for (int i = 0; i < m->nbody; i++) {
auto xpos1 = AsVector(d_sleep->xpos + 3 * i, 3);
auto xpos2 = AsVector(d_nosleep->xpos + 3 * i, 3);
EXPECT_EQ(xpos1, xpos2)
<< " xpos[" << i << "] at time " << d_sleep->time;
}
// compare M and qLD
for (int i = 0; i < m->nv; i++) {
auto M1 = AsVector(d_sleep->M + m->M_rowadr[i], m->M_rownnz[i]);
auto M2 = AsVector(d_nosleep->M + m->M_rowadr[i], m->M_rownnz[i]);
EXPECT_EQ(M1, M2) << " M[" << i << ",:] at time " << d_sleep->time;
auto qLD1 = AsVector(d_sleep->qLD + m->M_rowadr[i], m->M_rownnz[i]);
auto qLD2 = AsVector(d_nosleep->qLD + m->M_rowadr[i], m->M_rownnz[i]);
EXPECT_EQ(qLD1, qLD2)
<< " qLD[" << i << ",:] at time " << d_sleep->time;
}
// compare cvel
for (int i = 0; i < m->nbody; i++) {
auto cvel1 = AsVector(d_sleep->cvel + 6 * i, 6);
auto cvel2 = AsVector(d_nosleep->cvel + 6 * i, 6);
EXPECT_EQ(cvel1, cvel2)
<< " cvel[" << i << "] at time " << d_sleep->time;
}
// compare qfrc arrays
for (int i = 0; i < m->nv; i++) {
EXPECT_EQ(d_sleep->qfrc_fluid[i], d_nosleep->qfrc_fluid[i])
<< " qfrc_fluid[" << i << "] at time " << d_sleep->time;
EXPECT_EQ(d_sleep->qfrc_damper[i], d_nosleep->qfrc_damper[i])
<< " qfrc_damper[" << i << "] at time " << d_sleep->time;
EXPECT_EQ(d_sleep->qfrc_spring[i], d_nosleep->qfrc_spring[i])
<< " qfrc_spring[" << i << "] at time " << d_sleep->time;
EXPECT_EQ(d_sleep->qfrc_gravcomp[i], d_nosleep->qfrc_gravcomp[i])
<< " qfrc_gravcomp[" << i << "] at time " << d_sleep->time;
EXPECT_EQ(d_sleep->qfrc_bias[i], d_nosleep->qfrc_bias[i])
<< " qfrc_bias[" << i << "] at time " << d_sleep->time;
}
// compare sensordata
for (int i = 0; i < m->nsensor; i++) {
int dim = m->sensor_dim[i];
int adr = m->sensor_adr[i];
auto data1 = AsVector(d_sleep->sensordata + adr, dim);
auto data2 = AsVector(d_nosleep->sensordata + adr, dim);
EXPECT_EQ(data1, data2)
<< " sensor " << i << " at time " << d_sleep->time;
}
// ==== compare arrays for awake dofs only ====
// compare qacc arrays for awake dofs
for (int j = 0; j < d_sleep->nv_awake; j++) {
int i = d_sleep->dof_awake_ind[j];
EXPECT_EQ(d_sleep->qacc_smooth[i], d_nosleep->qacc_smooth[i])
<< " qacc_smooth[" << i << "] at time " << d_sleep->time;
EXPECT_EQ(d_sleep->qacc[i], d_nosleep->qacc[i])
<< " qacc[" << i << "] at time " << d_sleep->time;
}
}
mj_deleteData(d_nosleep);
mj_deleteData(d_sleep);
}
mj_deleteModel(m);
}
}
static const char* const kEqualityModel = "engine/testdata/sleep/equality.xml";
// Activate equality between sleeping and awake trees, useful under ASAN/MSAN.
TEST_F(SleepTest, Equality) {
const std::string xml_path = GetTestDataFilePath(kEqualityModel);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
while (d->ntree_awake == m->ntree) {
mj_step(m, d);
}
int dd = mj_name2id(m, mjOBJ_EQUALITY, "dyn/dyn");
ASSERT_GE(dd, 0);
mj_step(m, d);
d->eq_active[dd] = 1;
mj_step(m, d);
mj_deleteData(d);
mj_deleteModel(m);
}
static const char* const kInitIslandFailModel =
"engine/testdata/sleep/init_island_fail.xml";
TEST_F(SleepTest, InitIslandFail) {
const std::string xml_path = GetTestDataFilePath(kInitIslandFailModel);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error,
HasSubstr("3 trees were marked as sleep='init' but only 0 could "
"be slept.\nBody 'asleep_init0' (id=1) is the root of "
"the first tree that could not be slept."));
}
} // namespace
} // namespace mujoco
test/engine/testdata/sleep/contact.xml
Vendored
+36
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@@ -0,0 +1,36 @@
<mujoco>
<custom>
<numeric name="duration" data="1.5"/>
</custom>
<default>
<default class="domino">
<geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
</default>
</default>
<visual>
<global realtime="0.2"/>
</visual>
<option cone="elliptic" impratio="10">
<flag sleep="enable"/>
</option>
<worldbody>
<light pos="0 0 3"/>
<geom type="plane" size="1 1 .01" pos="0 0 1e-6"/>
<body pos="-.1 0 .089" euler="0 7 0">
<freejoint/>
<geom type="box" class="domino"/>
</body>
<replicate count="4" offset=".1 0 0">
<body pos="0 0 .089">
<freejoint/>
<geom type="box" class="domino"/>
</body>
</replicate>
</worldbody>
</mujoco>
test/engine/testdata/sleep/contactpair.xml
Vendored
+39
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@@ -0,0 +1,39 @@
<mujoco>
<custom>
<numeric name="duration" data="1.0"/>
</custom>
<default>
<default class="domino">
<geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
</default>
</default>
<visual>
<global realtime="0.2"/>
</visual>
<option cone="elliptic" impratio="10">
<flag sleep="enable"/>
</option>
<worldbody>
<light pos="0 0 3"/>
<geom name="floor" type="plane" size="1 1 .01" pos="0 0 1e-6"/>
<body pos="-.1 0 .089" euler="0 7 0">
<freejoint/>
<geom name="1" type="box" class="domino"/>
</body>
<body pos="0 0 .089">
<freejoint/>
<geom name="2" type="box" class="domino" contype="0" conaffinity="0"/>
</body>
</worldbody>
<contact>
<pair geom1="1" geom2="2"/>
<pair geom1="2" geom2="floor"/>
</contact>
</mujoco>
test/engine/testdata/sleep/equality.xml
Vendored
+60
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@@ -0,0 +1,60 @@
<mujoco>
<option>
<flag sleep="enable"/>
</option>
<worldbody>
<light pos="0 -1 4"/>
<geom type="plane" size="1.5 1.5 .01"/>
<body pos=".3 0 .8">
<joint name="1" axis="1 0 0" damping=".1"/>
<geom type="box" size=".03 .1 .1"/>
</body>
<body pos=".7 0 .8">
<joint name="2" axis="1 0 0" damping=".1"/>
<geom type="box" size=".03 .1 .1"/>
</body>
<body pos=".5 0 .5">
<geom type="box" size=".1 .1 .1"/>
<site name="1" pos="-.1 0 0" size=".01" rgba="1 0 0 1"/>
</body>
<body pos="-.3 -.4 .5" euler="10 20 30">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
<site name="2" pos="0 0 .1" size=".01" rgba="1 0 0 1" euler="0 -90 0"/>
<site name="3" pos="0 -.1 0" size=".01" rgba="1 0 0 1" euler="0 0 -90"/>
</body>
<body pos=".7 -.3 .5">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
<site name="4" pos="-.1 0 0" size=".01" rgba="1 0 0 1"/>
</body>
<body pos="-.3 0 .7">
<joint axis="0 1 0" springdamper=".03 1"/>
<geom type="capsule" size=".03" fromto="0 0 0 .2 0 0"/>
<site name="5" pos=".1 0 .03" size=".01" rgba="1 0 0 1"/>
<body pos=".2 0 0">
<joint axis="0 1 0" springdamper=".03 1"/>
<geom type="capsule" size=".03" fromto="0 0 0 0 0 .2"/>
<body pos="0 0 .2">
<joint axis="0 1 0" springdamper=".03 1"/>
<geom type="capsule" size=".03" fromto="0 0 0 -.15 0 0"/>
<site name="6" pos="-.18 0 0" size=".01" rgba="1 0 0 1"/>
</body>
</body>
</body>
</worldbody>
<equality>
<weld active="false" name="stat/dyn" site1="1" site2="2"/>
<weld active="false" name="dyn/dyn" site1="3" site2="4"/>
<connect active="false" name="self" site1="5" site2="6"/>
<joint name="joint" joint1="1" joint2="2" polycoef="0 -2"/>
</equality>
</mujoco>
test/engine/testdata/sleep/init.xml
Vendored
+26
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@@ -0,0 +1,26 @@
<mujoco>
<custom>
<numeric name="duration" data="2.0"/>
</custom>
<option>
<flag sleep="enable"/>
</option>
<worldbody>
<light pos="0 -1 3"/>
<geom type="plane" size="1 1 .01"/>
<replicate count="3" offset="0 0 .3">
<body pos="0 0 .15" sleep="init">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
</body>
</replicate>
<body pos="0 0 1.2" euler="10 20 30">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/init_island.xml
Vendored
+26
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@@ -0,0 +1,26 @@
<mujoco>
<custom>
<numeric name="duration" data="2.0"/>
</custom>
<option>
<flag sleep="enable"/>
</option>
<worldbody>
<light pos="0 -1 3"/>
<geom type="plane" size="1 1 .01"/>
<replicate count="3" offset="0 0 .18" euler="0 0 20">
<body pos="0 0 .08" sleep="init">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
</body>
</replicate>
<body pos="0 0 1.2" euler="10 20 30">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/init_island_fail.xml
Vendored
+28
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<mujoco>
<custom>
<numeric name="duration" data="2.0"/>
</custom>
<option>
<flag sleep="enable"/>
</option>
<worldbody>
<light pos="0 -1 3"/>
<geom type="plane" size="1 1 .01"/>
<replicate count="3" offset="0 0 .18" euler="0 0 20">
<body name="asleep_init" pos="0 0 .08" sleep="init">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
</body>
</replicate>
<!-- the free objects above are marked as sleep="init", but they are touching this object which
is awake so sleep initialization should fail -->
<body pos="0 0 .6" euler="10 20 30">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/perf/2humanoid100.xml
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+123
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<mujoco model="2 Humanoids and 100 objects">
<!--
Model designed for a maximally-elaborate island structure.
More horizontal gravity leads to larger, fewer islands.
-->
<option timestep="0.005" cone="elliptic" impratio="10" sleep_tolerance="1e-3">
<flag island="enable" sleep="enable"/>
</option>
<size memory="100M"/>
<default>
<geom condim="6" friction="1 .01 .003"/>
<default class="capsule">
<geom type="capsule" material="capsule" size="0.1 0.05"/>
</default>
<default class="ellipsoid">
<geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
</default>
<default class="box">
<geom type="box" material="box" size="0.15 0.1 0.05"/>
</default>
<default class="cylinder">
<geom type="cylinder" material="cylinder" size="0.1 0.05"/>
</default>
<default class="sphere">
<geom type="sphere" material="sphere" size="0.1"/>
</default>
<default class="border">
<geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
</default>
<default class="borderpost">
<geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
</default>
</default>
<asset>
<model file="humanoid.xml"/>
<texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
<material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
<material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
<material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
<material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
<material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
<material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
</asset>
<visual>
<quality shadowsize="4096" offsamples="8"/>
<map znear="0.1" force="0.05"/>
</visual>
<statistic extent="4"/>
<worldbody>
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
<geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
<geom class="border" fromto="-3 3 0 3 3 0"/>
<geom class="border" fromto="-3 -3 0 3 -3 0"/>
<geom class="border" fromto="3 3 0 3 -3 0"/>
<geom class="border" fromto="-3 3 0 -3 -3 0"/>
<geom class="borderpost" pos="3 3 0"/>
<geom class="borderpost" pos="-3 3 0"/>
<geom class="borderpost" pos="3 -3 0"/>
<geom class="borderpost" pos="-3 -3 0"/>
<replicate count="4" euler="0 0 90">
<geom type="plane" size=".5 3 .05" zaxis="1 0 0" pos="-3 0 0.4"/>
</replicate>
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="30 40 0">
<freejoint/>
<geom class="capsule"/>
</body>
</replicate>
<attach model="Humanoid" body="torso" prefix="1_"/>
<frame euler="0 0 72">
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="20 40 60">
<freejoint/>
<geom class="ellipsoid"/>
</body>
</replicate>
</frame>
<frame euler="0 0 144">
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="30 70 110">
<freejoint/>
<geom class="box"/>
</body>
</replicate>
</frame>
<frame pos="1 1 0" euler="0 0 144">
<attach model="Humanoid" body="torso" prefix="2_"/>
</frame>
<frame euler="0 0 216">
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="60 30 0">
<freejoint/>
<geom class="cylinder"/>
</body>
</replicate>
</frame>
<frame euler="0 0 288">
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="60 30 0">
<freejoint/>
<geom class="sphere"/>
</body>
</replicate>
</frame>
</worldbody>
</mujoco>
test/engine/testdata/sleep/perf/dominos.xml
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+77
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<mujoco model="sleeping dominos">
<option cone="elliptic" impratio="10" sleep_tolerance="3e-4">
<flag sleep="enable"/>
</option>
<default>
<default class="domino">
<geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
</default>
</default>
<worldbody>
<light pos=".5 0 3" diffuse="1 1 1"/>
<geom type="plane" size="2 2 .01" pos=".5 0 1e-6"/>
<!-- one domino atilt kicks off the chain reaction -->
<body pos="-.1 0 .089" euler="0 7 0">
<freejoint/>
<geom type="box" class="domino"/>
</body>
<!-- 5 rows of 15 dominoes, arranged in toppling order for consistent ids and colors -->
<!-- 3 rows of 15 dominoes, left to right -->
<replicate count="3" offset="0 1 0">
<frame pos="0 -1 0">
<replicate count="15" offset=".1 0 0">
<body pos="0 0 .089">
<freejoint/>
<geom type="box" class="domino"/>
</body>
</replicate>
</frame>
</replicate>
<!-- 2 rows of 15 dominoes, right to left -->
<replicate count="2" offset="0 1 0">
<frame pos="0 -.5 0">
<replicate count="15" offset="-.1 0 0">
<body pos="1.4 0 .089">
<freejoint/>
<geom type="box" class="domino"/>
</body>
</replicate>
</frame>
</replicate>
<!-- two "U turns", not too close in order to break the island chain -->
<replicate offset="0 -.55 0" count="2">
<frame pos="1.5 .26 0">
<replicate count="5" euler="0 0 45">
<body pos="0 -.23 .089">
<freejoint/>
<geom type="box" class="domino"/>
</body>
</replicate>
</frame>
</replicate>
<!-- two more U turns for the outside rows -->
<replicate offset="0 1.5 0" count="2">
<frame pos="-.1 -.75 0" euler="0 0 180">
<replicate count="5" euler="0 0 45">
<body pos="0 -.23 .089">
<freejoint/>
<geom type="box" class="domino"/>
</body>
</replicate>
</frame>
</replicate>
</worldbody>
<visual>
<global elevation="-25" azimuth="60"/>
</visual>
<statistic center="1.2 0 0"/>
</mujoco>
test/engine/testdata/sleep/perf/humanoid.xml
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<mujoco model="Humanoid">
<option timestep="0.005" cone="elliptic" impratio="10" sleep_tolerance="1e-3">
<flag sleep="enable"/>
</option>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
</visual>
<statistic center="0 0 0.7"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
<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"/>
</asset>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<!-- geoms -->
<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
<default class="thigh">
<geom size=".06"/>
</default>
<default class="shin">
<geom fromto="0 0 0 0 0 -.3" size=".049"/>
</default>
<default class="foot">
<geom size=".027"/>
<default class="foot1">
<geom fromto="-.07 -.01 0 .14 -.03 0"/>
</default>
<default class="foot2">
<geom fromto="-.07 .01 0 .14 .03 0"/>
</default>
</default>
<default class="arm_upper">
<geom size=".04"/>
</default>
<default class="arm_lower">
<geom size=".031"/>
</default>
<default class="hand">
<geom type="sphere" size=".04"/>
</default>
<!-- joints -->
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01" frictionloss="0.0001"/>
<default class="joint_big">
<joint damping="5" stiffness="10"/>
<default class="hip_x">
<joint range="-30 10"/>
</default>
<default class="hip_z">
<joint range="-60 35"/>
</default>
<default class="hip_y">
<joint axis="0 1 0" range="-150 20"/>
</default>
<default class="joint_big_stiff">
<joint stiffness="20"/>
</default>
</default>
<default class="knee">
<joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
</default>
<default class="ankle">
<joint range="-50 50"/>
<default class="ankle_y">
<joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
</default>
<default class="ankle_x">
<joint pos="0 0 .04" stiffness="3"/>
</default>
</default>
<default class="shoulder">
<joint range="-85 60"/>
</default>
<default class="elbow">
<joint range="-100 50" stiffness="0"/>
</default>
</default>
</default>
<worldbody>
<geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
<light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
<light name="top" pos="0 0 2" mode="trackcom"/>
<body name="torso" pos="0 0 1.282" childclass="body" sleep="allowed">
<camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
<camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
<freejoint name="root"/>
<geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
<geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
<body name="head" pos="0 0 .19">
<geom name="head" type="sphere" size=".09"/>
<camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
</body>
<body name="waist_lower" pos="-.01 0 -.26">
<geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
<joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
<joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
<body name="pelvis" pos="0 0 -.165">
<joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
<body name="thigh_right" pos="0 -.1 -.04">
<joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
<joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
<joint name="hip_y_right" class="hip_y"/>
<geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
<body name="shin_right" pos="0 .01 -.4">
<joint name="knee_right" class="knee"/>
<geom name="shin_right" class="shin"/>
<body name="foot_right" pos="0 0 -.39">
<joint name="ankle_y_right" class="ankle_y"/>
<joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
<geom name="foot1_right" class="foot1"/>
<geom name="foot2_right" class="foot2"/>
</body>
</body>
</body>
<body name="thigh_left" pos="0 .1 -.04">
<joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
<joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
<joint name="hip_y_left" class="hip_y"/>
<geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
<body name="shin_left" pos="0 -.01 -.4">
<joint name="knee_left" class="knee"/>
<geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
<body name="foot_left" pos="0 0 -.39">
<joint name="ankle_y_left" class="ankle_y"/>
<joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
<geom name="foot1_left" class="foot1"/>
<geom name="foot2_left" class="foot2"/>
</body>
</body>
</body>
</body>
</body>
<body name="upper_arm_right" pos="0 -.17 .06">
<joint name="shoulder1_right" axis="2 1 1" class="shoulder"/>
<joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
<geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
<body name="lower_arm_right" pos=".18 -.18 -.18">
<joint name="elbow_right" axis="0 -1 1" class="elbow"/>
<geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
<body name="hand_right" pos=".18 .18 .18">
<geom name="hand_right" zaxis="1 1 1" class="hand"/>
</body>
</body>
</body>
<body name="upper_arm_left" pos="0 .17 .06">
<joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
<joint name="shoulder2_left" axis="0 -1 -1" class="shoulder"/>
<geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
<body name="lower_arm_left" pos=".18 .18 -.18">
<joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
<geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
<body name="hand_left" pos=".18 -.18 .18">
<geom name="hand_left" zaxis="1 -1 1" class="hand"/>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="waist_lower" body2="thigh_right"/>
<exclude body1="waist_lower" body2="thigh_left"/>
</contact>
<tendon>
<fixed name="hamstring_right" limited="true" range="-0.3 2">
<joint joint="hip_y_right" coef=".5"/>
<joint joint="knee_right" coef="-.5"/>
</fixed>
<fixed name="hamstring_left" limited="true" range="-0.3 2">
<joint joint="hip_y_left" coef=".5"/>
<joint joint="knee_left" coef="-.5"/>
</fixed>
</tendon>
<actuator>
<motor name="abdomen_z" gear="40" joint="abdomen_z"/>
<motor name="abdomen_y" gear="40" joint="abdomen_y"/>
<motor name="abdomen_x" gear="40" joint="abdomen_x"/>
<motor name="hip_x_right" gear="40" joint="hip_x_right"/>
<motor name="hip_z_right" gear="40" joint="hip_z_right"/>
<motor name="hip_y_right" gear="120" joint="hip_y_right"/>
<motor name="knee_right" gear="80" joint="knee_right"/>
<motor name="ankle_y_right" gear="20" joint="ankle_y_right"/>
<motor name="ankle_x_right" gear="20" joint="ankle_x_right"/>
<motor name="hip_x_left" gear="40" joint="hip_x_left"/>
<motor name="hip_z_left" gear="40" joint="hip_z_left"/>
<motor name="hip_y_left" gear="120" joint="hip_y_left"/>
<motor name="knee_left" gear="80" joint="knee_left"/>
<motor name="ankle_y_left" gear="20" joint="ankle_y_left"/>
<motor name="ankle_x_left" gear="20" joint="ankle_x_left"/>
<motor name="shoulder1_right" gear="20" joint="shoulder1_right"/>
<motor name="shoulder2_right" gear="20" joint="shoulder2_right"/>
<motor name="elbow_right" gear="40" joint="elbow_right"/>
<motor name="shoulder1_left" gear="20" joint="shoulder1_left"/>
<motor name="shoulder2_left" gear="20" joint="shoulder2_left"/>
<motor name="elbow_left" gear="40" joint="elbow_left"/>
</actuator>
<keyframe>
<!--
The values below are split into rows for readibility:
torso position
torso orientation
spinal
right leg
left leg
arms
-->
<key name="squat"
qpos="0 0 0.596
0.988015 0 0.154359 0
0 0.4 0
-0.25 -0.5 -2.5 -2.65 -0.8 0.56
-0.25 -0.5 -2.5 -2.65 -0.8 0.56
0 0 0 0 0 0"/>
<key name="stand_on_left_leg"
qpos="0 0 1.21948
0.971588 -0.179973 0.135318 -0.0729076
-0.0516 -0.202 0.23
-0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-0.08 -0.01 -0.37 -0.685 -0.35 -0.09
0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
<key name="prone"
qpos="0.4 0 0.0757706
0.7325 0 0.680767 0
0 0.0729 0
0.0077 0.0019 -0.026 -0.351 -0.27 0
0.0077 0.0019 -0.026 -0.351 -0.27 0
0.56 -0.62 -1.752
0.56 -0.62 -1.752"/>
<key name="supine"
qpos="-0.4 0 0.08122
0.722788 0 -0.69107 0
0 -0.25 0
0.0182 0.0142 0.3 0.042 -0.44 -0.02
0.0182 0.0142 0.3 0.042 -0.44 -0.02
0.186 -0.73 -1.73
0.186 -0.73 -1.73"/>
</keyframe>
</mujoco>
test/engine/testdata/sleep/perf/smooth.xml
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<mujoco>
<option viscosity="30" integrator="implicit">
<flag gravity="disable" constraint="disable" contact="disable" energy="enable" sleep="enable"/>
</option>
<worldbody>
<replicate offset="0 0 2.5" count="7">
<replicate offset="4 0 0" count="7">
<replicate offset="0 2 0" count="7">
<body sleep="init">
<geom size=".4"/>
<freejoint/>
<body pos="-.4 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
<joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
</body>
</body>
<body pos="1 0 0" sleep="init">
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
<joint axis="1 0 0" stiffness="300" damping="30"/>
<body pos="0 0 1">
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
<joint axis="1 0 0" springref="45" stiffness="300" damping="30"/>
</body>
</body>
<body pos="2 0 0" sleep="init">
<geom type="box" size=".2 .2 .2"/>
<joint type="ball" stiffness="300" damping="30"/>
<body pos=".2 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
<joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
</body>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>
test/engine/testdata/sleep/perf/static.xml
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+40
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<mujoco>
<size memory="200M"/>
<option timestep="1e-2">
<flag sleep="enable"/>
</option>
<worldbody>
<replicate offset="0 0 2.5" count="7">
<replicate offset="4 0 0" count="7">
<replicate offset="0 2 0" count="7">
<body>
<geom size=".4"/>
<body pos="-.4 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
</body>
</body>
<geom type="box" size="0.1" fromto=".6 0 0 .6 0 1"/>
<body pos="1 0 0">
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
<body pos="0 0 1">
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
</body>
</body>
<geom type="box" size="0.1" fromto="1.4 0 0 1.4 0 1"/>
<body pos="2 0 0">
<geom type="box" size=".2 .2 .2"/>
<body pos=".2 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
</body>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>
test/engine/testdata/sleep/perf/world.xml
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+40
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<mujoco>
<size memory="200M"/>
<option timestep="1e-2">
<flag sleep="enable"/>
</option>
<worldbody>
<replicate offset="0 0 2.5" count="7">
<replicate offset="4 0 0" count="7">
<replicate offset="0 2 0" count="7">
<frame>
<geom size=".4"/>
<frame pos="-.4 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
</frame>
</frame>
<geom type="box" size="0.1" fromto=".6 0 0 .6 0 1"/>
<frame pos="1 0 0">
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
<frame pos="0 0 1">
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
</frame>
</frame>
<geom type="box" size="0.1" fromto="1.4 0 0 1.4 0 1"/>
<frame pos="2 0 0">
<geom type="box" size=".2 .2 .2"/>
<frame pos=".2 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
</frame>
</frame>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>
test/engine/testdata/sleep/sensor.xml
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<mujoco>
<custom>
<numeric name="duration" data="2.0"/>
</custom>
<option>
<flag sleep="enable" warmstart="disable"/>
</option>
<worldbody>
<light pos="0 -1 3"/>
<geom name="floor" type="plane" size="1 1 .01"/>
<body name="1" pos="0 0 .1">
<freejoint/>
<geom name="1" type="box" size=".1 .1 .1"/>
</body>
<body name="2" pos="0 0 .3">
<freejoint/>
<geom name="2" type="box" size=".1 .1 .1"/>
<site name="2"/>
</body>
<body name="3" pos="0 0 1.2" euler="10 20 30">
<freejoint/>
<geom name="3" type="box" size=".1 .1 .1"/>
</body>
</worldbody>
<sensor>
<contact reduce="maxforce" data="force"/>
<contact geom1="1" geom2="2"/>
<contact geom1="1" geom2="2" reduce="maxforce" data="force"/>
<contact geom1="1" geom2="floor"/>
<contact geom1="1" reduce="maxforce" data="force"/>
<gyro site="2"/>
<clock/>
</sensor>
</mujoco>
test/engine/testdata/sleep/smooth.xml
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+54
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<mujoco>
<custom>
<numeric name="duration" data="6.5"/>
</custom>
<option viscosity="60" gravity="0 0 -1">
<flag energy="enable" sleep="enable" constraint="disable" contact="disable"/>
</option>
<worldbody>
<body gravcomp="1">
<geom type="box" size=".2 .2 .2"/>
<freejoint/>
<body pos="-.4 0 0" gravcomp="1">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
<joint type="slide" axis="0 0 1" springref="0.2" springdamper="0.1 1"/>
</body>
</body>
<body pos="1 0 0">
<geom type="box" size=".2 .2 .2"/>
<body>
<joint axis="1 0 0" springdamper="0.1 1"/>
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
<site name="1" pos="0 -.1 .5" size=".03" rgba="1 0 0 1"/>
<body pos="0 0 1">
<joint axis="1 0 0" springref="45" springdamper="0.1 1"/>
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
<site name="2" pos="0 -.1 .5" size=".03" rgba="1 0 0 1"/>
</body>
</body>
</body>
<body pos="2 0 0">
<geom size=".3"/>
<joint type="ball" stiffness="300" damping="30"/>
<body name="angmom" pos=".2 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
<joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
</body>
</body>
</worldbody>
<tendon>
<spatial width="0.01" armature="1">
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
<sensor>
<subtreeangmom body="angmom"/>
</sensor>
</mujoco>
test/engine/testdata/sleep/static.xml
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+35
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<mujoco>
<custom>
<numeric name="duration" data="0.1"/>
</custom>
<option>
<flag sleep="enable"/>
</option>
<worldbody>
<body>
<geom type="box" size=".2 .2 .2"/>
<body pos="-.4 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
</body>
</body>
<body pos="1 0 0">
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
<body pos="0 0 1">
<geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
<site/>
</body>
</body>
<body pos="2 0 0">
<geom size=".3"/>
<body pos=".2 0 0">
<geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
<camera/>
<light pos="0 0 1.5"/>
</body>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/tendon.xml
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+33
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<mujoco>
<custom>
<numeric name="duration" data="2.0"/>
</custom>
<option>
<flag sleep="enable"/>
</option>
<worldbody>
<light pos="0 -1 4"/>
<geom type="plane" size="1.5 1.5 .01" rgba=".5 .5 .5 .5"/>
<body pos=".3 0 1" sleep="init">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
<site name="1" pos="-.1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
</body>
<body pos="-.3 0 1" euler="10 20 30">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
<site name="2" pos=".1 -.1 .1" size=".01" rgba="1 0 0 1"/>
</body>
</worldbody>
<tendon>
<spatial range="0 .6" width="0.01">
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
</mujoco>
test/engine/testdata/sleep/tendon2.xml
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+40
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<mujoco>
<option>
<flag sleep="enable"/>
</option>
<worldbody>
<light pos="0 -1 4"/>
<geom type="plane" size="1.5 1.5 .01" rgba=".5 .5 .5 .5"/>
<body pos=".3 0 1" sleep="init">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
<site name="1" pos="-.1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
<site name="2" pos=".1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
</body>
<body pos="-.3 0 1" euler="10 20 30">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
<site name="3" pos=".1 -.1 .1" size=".01" rgba="1 0 0 1"/>
</body>
<body pos=".7 0 1" sleep="init">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
<site name="4" pos="-.1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
</body>
</worldbody>
<tendon>
<spatial range="0 .6" width="0.01">
<site site="1"/>
<site site="3"/>
</spatial>
<spatial range="0 .6" width="0.01">
<site site="2"/>
<site site="4"/>
</spatial>
</tendon>
</mujoco>