Allow flex sleeping

PiperOrigin-RevId: 917817500 Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
2026-05-19 07:14:45 -07:00
parent ddc4c54d16
commit f712eed4ce
21 changed files with 660 additions and 57 deletions
@@ -0,0 +1,21 @@
+<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>