Yuval Tassa
d3ed16e78f
Also fix bug in allocation for constraint islands, added allocation for limit constraints. PiperOrigin-RevId: 561083128 Change-Id: I9e01d5a5b7454ec3cf60bccadaa0f96f2c0d87d1
54 lines
1.2 KiB
XML
54 lines
1.2 KiB
XML
<!--
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test model for constraint islanding:
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- one equality
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- one limit
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- one friction
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- one unconstrained dof
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- two islands, one with non-contiguous dofs
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-->
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<mujoco>
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<option>
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<flag island="enable"/>
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</option>
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<default>
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<geom size=".1"/>
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</default>
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<worldbody>
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<body>
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<joint type="slide" axis="0 0 1" range="0 1" limited="true"/>
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<geom/>
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</body>
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<body pos=".25 0 0">
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<joint type="slide" axis="1 0 0"/>
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<geom/>
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</body>
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<body pos="0 0 0.25">
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<joint type="slide" axis="0 0 1"/>
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<geom/>
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<body pos="0 -.15 0">
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<joint name="hinge1" axis="0 1 0"/>
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<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
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<body pos="-.2 0 0">
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<joint axis="0 1 0"/>
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<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
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</body>
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</body>
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</body>
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<body pos="-.5 0 0">
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<joint axis="0 1 0" frictionloss=".01"/>
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<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
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</body>
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<body pos="0 0 .5">
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<joint name="hinge2" axis="0 1 0"/>
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<geom type="box" size=".08 .02 .08"/>
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</body>
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</worldbody>
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<equality>
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<joint joint1="hinge1" joint2="hinge2"/>
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</equality>
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</mujoco>
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