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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/xml/xml_native_writer.cc
+1 -1
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@@ -1056,6 +1056,7 @@ void mjXWriter::Option(XMLElement* root) {
WRITEDSBL("eulerdamp", mjDSBL_EULERDAMP)
WRITEDSBL("autoreset", mjDSBL_AUTORESET)
WRITEDSBL("nativeccd", mjDSBL_NATIVECCD)
WRITEDSBL("island", mjDSBL_ISLAND)
#undef WRITEDSBL
#define WRITEENBL(NAME, MASK) \
@@ -1066,7 +1067,6 @@ void mjXWriter::Option(XMLElement* root) {
WRITEENBL("fwdinv", mjENBL_FWDINV)
WRITEENBL("invdiscrete", mjENBL_INVDISCRETE)
WRITEENBL("multiccd", mjENBL_MULTICCD)
WRITEENBL("island", mjENBL_ISLAND)
#undef WRITEENBL
}