Improve behaviour of set-pose mouse interactions with free and mocap bodies.

PiperOrigin-RevId: 506051745 Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
2023-01-31 10:56:26 -08:00
parent f1af86cf82
commit 7feecf6e94
6 changed files with 30 additions and 15 deletions
@@ -12,5 +12,15 @@
      <freejoint/>
      <geom type="box" size="0.15 0.1 0.05" rgba="0 0 1 1"/>
    </body>
+
+    <body pos="-.5 -.5 .5" mocap="true" quat=".1 .2 .3 .4">
+      <geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="0 .7 0 1"/>
+    </body>
+
+    <!-- TODO(b/266543914): Fix force perurbation on ball joints -->
+    <body pos=".5 -.5 .5" >
+      <joint type="ball" damping="10"/>
+      <geom type="box" size="0.1 0.1 0.1"/>
+    </body>
  </worldbody>
 </mujoco>