Add constraint island discovery

PiperOrigin-RevId: 557067599 Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:29:26 -07:00
parent e4dddea42a
commit 3e034e38b2
40 changed files with 1557 additions and 468 deletions
@@ -1,6 +1,6 @@
 <mujoco>
  <option jacobian="dense" density="1.225" viscosity="1.8e-5" wind="0 0 1">
-    <flag fwdinv="enable" energy="enable"/>
+    <flag fwdinv="enable" energy="enable" island="enable"/>
  </option>

  <asset>