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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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test/benchmark/thread_performance_test.cc
+4 -4
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@@ -32,8 +32,8 @@ void BM_StepHumanoid200(benchmark::State& state) {
mjModel* model =
mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
model->opt.solver = mjSOL_CG; // use CG solver
model->opt.enableflags |= mjENBL_ISLAND; // enable islands
model->opt.solver = mjSOL_CG; // use CG solver
model->opt.disableflags &= ~mjDSBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjThreadPool* threadpool = mju_threadPoolCreate(10);
@@ -69,8 +69,8 @@ void BM_Step22Humanoids(benchmark::State& state) {
std::array<char, 1024> error;
mjModel* model =
mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
model->opt.solver = mjSOL_CG; // use CG solver
model->opt.enableflags |= mjENBL_ISLAND; // enable islands
model->opt.solver = mjSOL_CG; // use CG solver
model->opt.disableflags &= ~mjDSBL_ISLAND; // enable islands
mjData* data = mj_makeData(model);
mjThreadPool* threadpool = mju_threadPoolCreate(10);