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Implement sleeping in engine

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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
This commit is contained in:
Yuval Tassa
2025-11-07 03:32:03 -08:00
committed by Copybara-Service
parent 1e0226d360
commit 769f37b653
55 changed files with 3602 additions and 677 deletions
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simulate/simulate.cc
+6 -3
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@@ -408,10 +408,12 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
}
sqrt_nnz = mju_sqrt(sqrt_nnz);
// get sizes: nv, nbody, nefc, sqrt(nnz), ncont, iter
// get sizes: nv, nbody, nefc, sqrt(nnz), ncon, iter
int nv = mjENABLED(mjENBL_SLEEP) ? d->nv_awake : m->nv;
int nbody = mjENABLED(mjENBL_SLEEP) ? d->nbody_awake : m->nbody;
float sdata[6] = {
static_cast<float>(m->nv),
static_cast<float>(m->nbody),
static_cast<float>(nv),
static_cast<float>(nbody),
static_cast<float>(d->nefc),
static_cast<float>(sqrt_nnz),
static_cast<float>(d->ncon),
@@ -708,6 +710,7 @@ void MakePhysicsSection(mj::Simulate* sim) {
{mjITEM_EDITNUM, "Noslip Tol", 2, &(opt->noslip_tolerance), "1 0 1"},
{mjITEM_EDITINT, "CCD Iter", 2, &(opt->ccd_iterations), "1 0 1000"},
{mjITEM_EDITNUM, "CCD Tol", 2, &(opt->ccd_tolerance), "1 0 1"},
{mjITEM_EDITNUM, "Sleep Tol", 2, &(opt->sleep_tolerance), "1 0 1"},
{mjITEM_EDITINT, "SDF Iter", 2, &(opt->sdf_iterations), "1 1 20"},
{mjITEM_EDITINT, "SDF Init", 2, &(opt->sdf_initpoints), "1 1 100"},
{mjITEM_SEPARATOR, "Physical Parameters", mjPRESERVE},