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Make constraint island discovery on by default.

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Also fix latent bug in mjData serialization.

PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
This commit is contained in:
Yuval Tassa
2025-08-26 04:26:30 -07:00
committed by Copybara-Service
parent 4cf5c37211
commit ec94bb49aa
27 changed files with 147 additions and 81 deletions
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python/mujoco/bindings_test.py
+1 -1
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@@ -946,7 +946,7 @@ Euler integrator, semi-implicit in velocity.
self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1 << 0)
self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1 << 1)
self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1 << 2)
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 5)
self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)