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Fix bug related to sleeping static children of mocap bodies.

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PiperOrigin-RevId: 831376685
Change-Id: I8891a1d7dc6efc037e9ade5c7e8dd5c35c7e455e
This commit is contained in:
Yuval Tassa
2025-11-12 07:19:08 -08:00
committed by Copybara-Service
parent 7b52d3034e
commit b8512b9d1f
3 changed files with 36 additions and 5 deletions
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test/engine/testdata/sleep/mocap.xml
Vendored
+28
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@@ -0,0 +1,28 @@
<mujoco>
<custom>
<numeric name="duration" data="0.1"/>
</custom>
<option>
<flag sleep="enable"/>
</option>
<worldbody>
<geom size="1"/>
<body name="mocap_static" pos="-5 0 0.01" mocap="true">
<geom size="1" rgba="1 0 0 1"/>
<body pos="0 0 1">
<geom size="1" rgba="0 0 1 1"/>
</body>
</body>
<body name="mocap_dynamic" pos="5 0 0.01" mocap="true">
<geom size="1" rgba="1 0 0 1"/>
<body pos="0 0 2">
<joint type="slide"/>
<geom size="1" rgba="0 0 1 1"/>
</body>
</body>
</worldbody>
</mujoco>