Disable island discovery for models with flexes.

PiperOrigin-RevId: 574244981 Change-Id: I7c08b23cf5f29338a04ec684ad7a0d4d8a0397df
2023-10-17 13:16:36 -07:00
parent 18e4e10142
commit d0bdb78207
3 changed files with 3 additions and 2 deletions
@@ -619,6 +619,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {

  // check if islands are supported
  int islands_supported = mjENABLED(mjENBL_ISLAND)  &&
+                          d->nisland > 0            &&
                          m->opt.solver == mjSOL_CG &&
                          m->opt.noslip_iterations == 0;