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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/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>