sleeping islands: add sleep state fields#1105
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thowell wants to merge 2 commits intogoogle-deepmind:mainfrom
Open
sleeping islands: add sleep state fields#1105thowell wants to merge 2 commits intogoogle-deepmind:mainfrom
thowell wants to merge 2 commits intogoogle-deepmind:mainfrom
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thowell
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Feb 1, 2026
thowell
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- 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
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Hello @thowell! what's the current state of this |
- 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
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