chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix mjcPhysics island flag default.

Browse Source 
PiperOrigin-RevId: 822088739
Change-Id: If3a87976dd319502160fd886a1823c12d72bebf1
This commit is contained in:
Sam Haves
2025-10-21 06:26:23 -07:00
committed by Copybara-Service
parent 64add36adb
commit 09682ade4b
4 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+1 -1
View File
@@ -1343,7 +1343,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// ///
/// | || /// | ||
/// | -- | -- | /// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:island = 0` | /// | Declaration | `uniform bool mjc:flag:island = 1` |
/// | C++ Type | bool | /// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
src/experimental/usd/mjcPhysics/generatedSchema.usda
+1 -1
View File
@@ -126,7 +126,7 @@ class "MjcSceneAPI" (
displayName = "Discrete-Time Inverse Dynamics Toggle" displayName = "Discrete-Time Inverse Dynamics Toggle"
doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4." doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."
) )
uniform bool mjc:flag:island = 0 ( uniform bool mjc:flag:island = 1 (
displayName = "Constraint Island Discovery Toggle" displayName = "Constraint Island Discovery Toggle"
doc = "Enables the discovery of constraint islands." doc = "Enables the discovery of constraint islands."
) )
src/experimental/usd/mjcPhysics/schema.usda
+1 -1
View File
@@ -501,7 +501,7 @@ class "MjcSceneAPI"
doc = """Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider.""" doc = """Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."""
) )
uniform bool mjc:flag:island = False ( uniform bool mjc:flag:island = True (
customData = { customData = {
string apiName = "IslandFlag" string apiName = "IslandFlag"
} }
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+2 -2
View File
@@ -1052,6 +1052,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
nativeccd="disable" nativeccd="disable"
eulerdamp="disable" eulerdamp="disable"
autoreset="disable" autoreset="disable"
island="disable"
/> />
</option> </option>
</mujoco> </mujoco>
@@ -1076,6 +1077,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
MjcPhysicsTokens->mjcFlagNativeccd, MjcPhysicsTokens->mjcFlagNativeccd,
MjcPhysicsTokens->mjcFlagEulerdamp, MjcPhysicsTokens->mjcFlagEulerdamp,
MjcPhysicsTokens->mjcFlagAutoreset, MjcPhysicsTokens->mjcFlagAutoreset,
MjcPhysicsTokens->mjcFlagIsland,
}; };
for (const auto& flag : kFlags) { for (const auto& flag : kFlags) {
ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag), ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag),
@@ -1093,7 +1095,6 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimEnableFlags) {
fwdinv="enable" fwdinv="enable"
invdiscrete="enable" invdiscrete="enable"
multiccd="enable" multiccd="enable"
island="enable"
/> />
</option> </option>
</mujoco> </mujoco>
@@ -1106,7 +1107,6 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimEnableFlags) {
MjcPhysicsTokens->mjcFlagFwdinv, MjcPhysicsTokens->mjcFlagFwdinv,
MjcPhysicsTokens->mjcFlagInvdiscrete, MjcPhysicsTokens->mjcFlagInvdiscrete,
MjcPhysicsTokens->mjcFlagMulticcd, MjcPhysicsTokens->mjcFlagMulticcd,
MjcPhysicsTokens->mjcFlagIsland,
}; };
// clang-format on // clang-format on
for (const auto& flag : kFlags) { for (const auto& flag : kFlags) {