chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Implement sleeping in engine

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/testdata/sleep/sensor.xml
Vendored
+40
View File
@@ -0,0 +1,40 @@
<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>