sleeping islands: add sleep state fields#1105
Open
thowell wants to merge 3 commits intogoogle-deepmind:mainfrom
Open
sleeping islands: add sleep state fields#1105thowell wants to merge 3 commits intogoogle-deepmind:mainfrom
thowell wants to merge 3 commits intogoogle-deepmind:mainfrom
Conversation
Collaborator
thowell
commented
Feb 1, 2026
thowell
commented
- Add MJ_MINAWAKE constant, SLEEP enable bit, SleepPolicy and SleepState enums
- Add sleep_tolerance to Option, tree_sleep_policy/dof_length to Model
- Add tree_asleep, tree_awake, body_awake, dof_awake_ind, body_awake_ind, nv_awake, nbody_awake, ntree_awake to Data
- Initialize sleep state in make_data and put_data (all trees start awake)
- Add tests for sleep state initialization, sleep policy and dof_length import
thowell
changed the title
- Add MJ_MINAWAKE constant, SLEEP enable bit, SleepPolicy and SleepState enums - Add sleep_tolerance to Option, tree_sleep_policy/dof_length to Model - Add tree_asleep, tree_awake, body_awake, dof_awake_ind, body_awake_ind, nv_awake, nbody_awake, ntree_awake to Data - Initialize sleep state in make_data and put_data (all trees start awake) - Add tests for sleep state initialization, sleep policy and dof_length import
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.