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Add sleep related data structures

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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
This commit is contained in:
Yuval Tassa
2025-11-06 12:09:59 -08:00
committed by Copybara-Service
parent 3080e3424f
commit 252a0d73df
37 changed files with 1907 additions and 186 deletions
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src/user/user_objects.cc
+2 -2
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@@ -2489,8 +2489,8 @@ void mjCBody::Compile(void) {
joints[0]->spec.type == mjJNT_FREE && // it is a free joint AND
bodies.empty() && // no child bodies AND
(joints[0]->spec.align == 1 || // either joint.align="true"
(joints[0]->spec.align == 2 && // or joint.align="auto"
compiler->alignfree))); // and compiler->align="true"
(joints[0]->spec.align == 2 && // or (joint.align="auto"
compiler->alignfree))); // and compiler->align="true")
// free-joint alignment, phase 1 (this body + child geoms)
double ipos_inverse[3], iquat_inverse[4];