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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/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>