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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/testdata/sleep/perf/smooth.xml
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+40
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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>