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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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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+2 -2
View File
@@ -643,7 +643,6 @@ class ModelWriter {
const std::vector<std::pair<pxr::TfToken, int>> enable_flags = {
{MjcPhysicsTokens->mjcFlagMulticcd, mjENBL_MULTICCD},
{MjcPhysicsTokens->mjcFlagIsland, mjENBL_ISLAND},
{MjcPhysicsTokens->mjcFlagFwdinv, mjENBL_FWDINV},
{MjcPhysicsTokens->mjcFlagEnergy, mjENBL_ENERGY},
{MjcPhysicsTokens->mjcFlagOverride, mjENBL_OVERRIDE},
@@ -669,7 +668,8 @@ class ModelWriter {
{MjcPhysicsTokens->mjcFlagMidphase, mjDSBL_MIDPHASE},
{MjcPhysicsTokens->mjcFlagEulerdamp, mjDSBL_EULERDAMP},
{MjcPhysicsTokens->mjcFlagAutoreset, mjDSBL_AUTORESET},
{MjcPhysicsTokens->mjcFlagNativeccd, mjDSBL_NATIVECCD}};
{MjcPhysicsTokens->mjcFlagNativeccd, mjDSBL_NATIVECCD},
{MjcPhysicsTokens->mjcFlagIsland, mjDSBL_ISLAND}};
for (const auto &[token, flag] : disable_flags) {
create_flag_attr(token, flag, false);
}
src/experimental/usd/usd_to_mjspec.cc
+4 -4
View File
@@ -617,6 +617,10 @@ void ParseUsdPhysicsScene(mjSpec* spec,
mjc_physics_scene.GetAutoResetFlagAttr().Get(&autoreset_flag);
spec->option.disableflags |= (!autoreset_flag ? mjDSBL_AUTORESET : 0);
bool island_flag;
mjc_physics_scene.GetIslandFlagAttr().Get(&island_flag);
spec->option.disableflags |= (!island_flag ? mjDSBL_ISLAND : 0);
bool override_flag;
mjc_physics_scene.GetOverrideFlagAttr().Get(&override_flag);
spec->option.enableflags |= (override_flag ? mjENBL_OVERRIDE : 0);
@@ -637,10 +641,6 @@ void ParseUsdPhysicsScene(mjSpec* spec,
mjc_physics_scene.GetMultiCCDFlagAttr().Get(&multiccd_flag);
spec->option.enableflags |= (multiccd_flag ? mjENBL_MULTICCD : 0);
bool island_flag;
mjc_physics_scene.GetIslandFlagAttr().Get(&island_flag);
spec->option.enableflags |= (island_flag ? mjENBL_ISLAND : 0);
// Compiler attributes
auto auto_limits_attr = mjc_physics_scene.GetAutoLimitsAttr();
if (auto_limits_attr.HasAuthoredValue()) {