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Allow flex sleeping

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PiperOrigin-RevId: 917817500
Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
This commit is contained in:
Yuval Tassa
2026-05-19 07:14:45 -07:00
committed by Copybara-Service
parent ddc4c54d16
commit f712eed4ce
21 changed files with 660 additions and 57 deletions
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model/flex/hollow_vs_solid.xml
+26 -26
View File
@@ -31,6 +31,32 @@
</default>
<worldbody>
<body name="gripper_solid" pos="0.2 0.45 0.2">
<joint name="lift_solid" class="gripper"/>
<geom class="gripper"/>
<body name="left_finger_r" pos="0.05 -0.1 0" childclass="finger">
<joint name="left_slide_r" axis="0 1 0"/>
<geom rgba="0.8 0.2 0.2 1"/>
</body>
<body name="right_finger_r" pos="0.05 0.1 0" childclass="finger">
<joint name="right_slide_r" axis="0 -1 0"/>
<geom rgba="0.8 0.2 0.2 1"/>
</body>
</body>
<body name="gripper_hollow" pos="0.2 0 0.2">
<joint name="lift_hollow" class="gripper"/>
<geom class="gripper"/>
<body name="left_finger_s" pos="0.05 -0.1 0" childclass="finger">
<joint name="left_slide_s" axis="0 1 0"/>
<geom rgba="0.2 0.8 0.2 1"/>
</body>
<body name="right_finger_s" pos="0.05 0.1 0" childclass="finger">
<joint name="right_slide_s" axis="0 -1 0"/>
<geom rgba="0.2 0.8 0.2 1"/>
</body>
</body>
<body name="solid" pos=".32 0 .2">
<flexcomp
origin="0 0 0" count="8 2 12" cellcount="6 1 6"
@@ -59,32 +85,6 @@
solimp="0.99 0.999 0.001"/>
</flexcomp>
</body>
<body name="gripper_solid" pos="0.2 0.45 0.2">
<joint name="lift_solid" class="gripper"/>
<geom class="gripper"/>
<body name="left_finger_r" pos="0.05 -0.1 0" childclass="finger">
<joint name="left_slide_r" axis="0 1 0"/>
<geom rgba="0.8 0.2 0.2 1"/>
</body>
<body name="right_finger_r" pos="0.05 0.1 0" childclass="finger">
<joint name="right_slide_r" axis="0 -1 0"/>
<geom rgba="0.8 0.2 0.2 1"/>
</body>
</body>
<body name="gripper_hollow" pos="0.2 0 0.2">
<joint name="lift_hollow" class="gripper"/>
<geom class="gripper"/>
<body name="left_finger_s" pos="0.05 -0.1 0" childclass="finger">
<joint name="left_slide_s" axis="0 1 0"/>
<geom rgba="0.2 0.8 0.2 1"/>
</body>
<body name="right_finger_s" pos="0.05 0.1 0" childclass="finger">
<joint name="right_slide_s" axis="0 -1 0"/>
<geom rgba="0.2 0.8 0.2 1"/>
</body>
</body>
</worldbody>
<equality>