constraint islands

[thowell]

implement constraint islands

[Aaryan-549]

Hi @thowell,

I just commented on #887 regarding sleeping islands, but I realized that feature heavily depends on the graph grouping logic from this issue.

Since the two are tightly coupled, could I be assigned this issue as well? I’d prefer to implement the constraint island generation here first, ensuring the data structures are compatible with the sleeping logic needed for #887.

[thowell]

thanks for your interest in contributing to mujoco warp!

i think this is a feature the mjwarp team will develop.

a good first issue to contribute to might be #750. if you are interested in that issue, please comment there. thanks!

[Aaryan-549]

Understood!
Thanks for pointing me toward #750. I'll head over there and take a look at the fluid implementation instead.