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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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test/engine/testdata/sleep/flex_contact.xml
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<mujoco>
<option integrator="implicitfast" viscosity="2" sleep_tolerance="0.1">
<flag sleep="enable"/>
</option>
<worldbody>
<geom type="plane" size="5 5 .01"/>
<!-- constrained flex on the floor, will go to sleep quickly -->
<body name="flex_body" pos="0 0 0.01">
<flexcomp name="f1" type="grid" dim="1" count="3 1 1"
spacing=".05 .05 .05" radius=".01" mass="1">
<edge equality="true" solref="0.15 0.2"/>
</flexcomp>
</body>
<!-- ball that will collide with the flex -->
<body name="ball" pos="0 0.01 0.5">
<freejoint/>
<geom type="sphere" size=".05"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/flex_edge.xml
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<mujoco>
<custom>
<numeric name="duration" data="2"/>
</custom>
<option integrator="implicitfast" viscosity="10"
sleep_tolerance="0.01">
<flag sleep="enable" gravity="disable"/>
</option>
<worldbody>
<body name="flex_body">
<freejoint/>
<inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
<flexcomp name="f1" type="grid" dim="1" count="3 1 1"
spacing=".05 .05 .05" radius=".01" mass="1">
<edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
</flexcomp>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/flex_mocap.xml
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<mujoco>
<option integrator="implicitfast" viscosity="1" sleep_tolerance="1e-2">
<flag sleep="enable"/>
</option>
<worldbody>
<geom type="plane" size="5 5 .01"/>
<!-- mocap body with a sphere -->
<body name="mocap_obstacle" pos="0 0 -.02" mocap="true">
<geom type="sphere" size=".04"/>
</body>
<!-- constrained flex on the floor, will go to sleep -->
<body name="flex_body" pos="0 0 0.01">
<flexcomp name="f1" type="grid" dim="1" count="3 1 1"
spacing=".05 .05 .05" radius=".01" mass="1">
<edge equality="true" solref="0.15 0.2"/>
</flexcomp>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/flex_nocnstr.xml
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<mujoco>
<option integrator="implicitfast" viscosity="10"
sleep_tolerance="0.01">
<flag sleep="enable" gravity="disable"/>
</option>
<worldbody>
<body name="flex_body">
<flexcomp name="f1" type="grid" dim="1" count="3 1 1"
spacing=".05 .05 .05" radius=".01" mass="1">
<edge equality="false" stiffness="100" damping="10"/>
</flexcomp>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/flex_state.xml
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<mujoco>
<option>
<flag sleep="enable" constraint="disable" contact="disable" gravity="disable"/>
</option>
<worldbody>
<body name="flex_body">
<freejoint/>
<inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
<flexcomp name="f1" type="grid" dim="1" count="3 1 1"
spacing=".05 .05 .05" radius=".01" mass="1">
<edge equality="true" solref="0.15 0.2"/>
</flexcomp>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/flex_static.xml
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<mujoco>
<option integrator="implicitfast" viscosity="2" sleep_tolerance="0.1">
<flag sleep="enable"/>
</option>
<worldbody>
<geom type="plane" size="5 5 .01"/>
<!-- static body (no joint) with a sphere touching the flex -->
<body name="static_obstacle" pos="0 0 0.05">
<geom type="sphere" size=".04"/>
</body>
<!-- constrained flex on the floor, will go to sleep -->
<body name="flex_body" pos="0 0 0.01">
<flexcomp name="f1" type="grid" dim="1" count="3 1 1"
spacing=".05 .05 .05" radius=".01" mass="1">
<edge equality="true" solref="0.15 0.2"/>
</flexcomp>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sleep/hollow_vs_solid.xml
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<mujoco>
<include file="scene.xml"/>
<option cone="elliptic" solver="CG" sleep_tolerance=".01">
<flag sleep="enable"/>
</option>
<default>
<default class="gripper">
<geom type="box" size="0.02 0.15 0.02" rgba="0.5 0.5 0.5 1"
solref="0.001 1" friction="2 0.1 0.1"/>
<joint type="slide" axis="0 0 1" range="-1 1"/>
<default class="finger">
<geom size="0.01 0.06 0.03"/>
<joint type="slide" range="0 0.1"/>
</default>
</default>
</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="2 1 2"
type="grid" name="soft_mesh" dim="3" spacing=".025 .05 .025"
mass="0.43" radius="0.005" dof="trilinear" rgba="0.7 0.9 0.7 1">
<edge equality="strain" solref="0.001 1"/>
<contact selfcollide="none"
internal="false"
friction="2.0 0.5 0.01"
solref="0.001 1"
solimp="0.99 0.999 0.001"/>
</flexcomp>
</body>
<body name="hollow" pos=".32 .45 .2">
<flexcomp
origin="0 0 0" count="8 2 12" cellcount="2 1 2"
type="grid" name="soft_mesh_2" dim="3" spacing=".025 .05 .025"
mass="0.43" radius="0.005" dof="trilinear" rgba="0.9 0.7 0.7 1">
<elasticity young="1e5" poisson="0.3" damping="0" elastic2d="bend" thickness="0.03"/>
<edge equality="strain" solref="0.001 1" solimp="0.99 0.999 0.001"/>
<contact selfcollide="none"
internal="false"
friction="2.0 0.5 0.01"
solref="0.001 1"
solimp="0.99 0.999 0.001"/>
</flexcomp>
</body>
</worldbody>
<equality>
<joint joint1="right_slide_r" joint2="left_slide_r"/>
<joint joint1="right_slide_s" joint2="left_slide_s"/>
</equality>
<actuator>
<position name="lift_r" joint="lift_solid" kp="400" dampratio="1" ctrlrange="-1 1"/>
<position name="grasp_r" joint="left_slide_r" kp="10" dampratio="1" ctrlrange="0 5"/>
<position name="lift_s" joint="lift_hollow" kp="400" dampratio="1" ctrlrange="-1 1"/>
<position name="grasp_s" joint="left_slide_s" kp="10" dampratio="1" ctrlrange="0 5"/>
</actuator>
</mujoco>
test/engine/testdata/sleep/scene.xml
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<mujoco>
<compiler meshdir="asset" texturedir="asset"/>
<statistic meansize=".05"/>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="10 10" texuniform="true"/>
</asset>
<worldbody>
<light diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 2.0" dir="0 0 -1" castshadow="false"/>
<light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
</worldbody>
</mujoco>